Traffic information providing device and operation method thereof, and driving assistance device connected thereto

ABSTRACT

A traffic information providing device according to an embodiment includes: a communication unit that receives driving information from a plurality of vehicles; and a controller that detects vehicles having danger of a collision at an intersection area from the plurality of vehicles on the basis of the received driving information, creates traffic information for the detected vehicles having danger of a collision to avoid a collision of the vehicles having danger of a collision, and controls the communication unit to transmit the created traffic information to the vehicles having danger of a collision before entering the intersection area.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a Continuation-in-Part of PCT International Application No. PCT/KR2016/004569, filed on Apr. 29, 2016, which claims priority under 35 U.S.C. 119(a) to Patent Application No. 10-2016-0025496, filed in the Republic of Korea on Mar. 3, 2016, all of which are hereby expressly incorporated by reference into the present application.

TECHNICAL FIELD

The present invention relates to a device providing traffic information of roads such as an intersection, a method of operating the device, and a driving assistance device connected to the device and disposed in a vehicle.

BACKGROUND ART

A vehicle is an apparatus that transports a user ridding therein in a desired direction. A representative example of a vehicle may be an automobile.

A vehicle includes an internal combustion engine vehicle, an external combustion engine vehicle, a gas turbine vehicle, an electric vehicle, etc. according to type of motor used.

The electric vehicle refers to a vehicle for driving an electric motor using electric energy and includes a pure electric vehicle, a hybrid electric vehicle (HEV), a plug-in hybrid electric vehicle (PHEV), a fuel cell electric vehicle (FCEV), etc.

Recently, intelligent vehicles have been actively developed for safety or convenience of a driver or pedestrian.

The intelligent vehicle is an advanced vehicle using information technology (IT) and is also referred to as a smart vehicle. The intelligent vehicle provides optimal traffic efficiency by introduction of an advanced vehicle system and via association with an intelligent traffic system (ITS).

In addition, research into a sensor mounted in such an intelligent vehicle has been actively conducted. More specifically, a camera, an infrared sensor, a radar, a global positioning system (GPS), a Lidar, a gyroscope, etc. are used for the intelligent vehicle. Among others, the camera is an important sensor playing the role of human eyes.

Accordingly, with development of various sensors and electronic apparatuses, a vehicle including a driver assistance function for assisting driving of a user and improving driving safety and convenience is attracting considerable attention.

DETAILED DESCRIPTION OF THE INVENTION Technical Problem

However, pieces of driver assistance information provided by various types of devices disperse a driver's gaze and cause the driver to be flustered, thus rather causing a problem.

For example, due to various events indicating danger, alarm, and caution, there is a problem that the driver hardly performs exact driving operation or hardly judges the situation.

Further, at an intersection having no signal light or a bottleneck where vehicles may intersect with each other, the driver cannot help predicting a driving state of another vehicle and driving a vehicle.

When the driver who puts confidence in a traffic signal of a signal light (for example, a road side unit (RSU)) drives a vehicle according to the traffic signal, the vehicle may collide with another vehicle or a pedestrian which violates the traffic signal, in spite of a traffic system, such as the signal light.

Technical Solution

A traffic information providing device according to an embodiment of the present invention includes: a communication unit that receives driving information from a plurality of vehicles; and a controller that detects vehicles having danger of a collision at an intersection area from the plurality of vehicles on the basis of the received driving information, creates traffic information for the detected vehicles having danger of a collision to avoid a collision of the vehicles having danger of a collision, and controls the communication unit to transmit the created traffic information to the vehicles having danger of a collision before entering the intersection area.

A driving assistance device according to an embodiment of the present invention includes: a communication unit that communicates with a traffic information providing device; a sensor unit that includes a camera and a distance sensor; an interface that is connected to a controller of a vehicle; and a processor that creates driving information of the vehicle on the basis of information obtained through the sensor unit and the interface, transmits the created driving information to the traffic information providing device, and receives traffic information for avoiding detected danger of a collision from the traffic information providing device when danger of a collision with another vehicle at an intersection area is detected on the basis of the driving information.

Advantageous Effects

The display apparatus according to the embodiments shares a virtual traffic signal with another vehicle through wireless communication, thus providing a pre-agreed virtual traffic signal, guiding safe driving, and enhancing traffic efficiency.

Specifically, when detecting another vehicle having risk of collision, the display apparatus according to the embodiments generates and display a virtual traffic signal, thus inducing a driver to intuitively perform driving operation in consideration of the risk of collision, preventing collision.

Also, the display apparatus according to the embodiments enables driving according to a pre-agreed traffic signal, thus achieving safe driving and enhancing efficient traffic circulation.

That is, the display apparatus according to the embodiments generates and provides an appropriate virtual traffic signal according to various situations, thus achieving safe driving and enhancing traffic efficiency and driver convenience.

Further, the traffic information providing device according to an embodiment can effective prevent a collision at an intersection area by detecting vehicles having danger of a collision on the basis of driving information obtained from a plurality of vehicles and by leading a driver to drive a vehicle to avoid a collision or controlling the vehicle to be automatically driven to avoid a collision.

Further, since the traffic information providing device can provide traffic information by obtaining driving information of a vehicle that cannot perform communication from another vehicle, it is possible to more effectively prevent a collision at an intersection area.

Further, the traffic information providing device can actively change traffic information in accordance with changes in situation around a road such as showing-up of a pedestrian.

Further, the traffic information providing device can provide smoother traffic flow at an intersection area by leading or controlling a plurality of vehicles to be driven together on the basis of a driving route and location information.

DESCRIPTION OF THE DRAWINGS

FIG. 1 represents the exterior of a vehicle having a display apparatus according to an embodiment.

FIG. 2 is a block diagram of a display apparatus according to an embodiment of the present invention.

FIG. 3 is a plan view of a vehicle having a display apparatus according to an embodiment of the present invention.

FIG. 4 is a diagram showing an example of a camera according to an embodiment of the present invention.

FIGS. 5 and 6 are diagrams illustrating an example of a method of generating image information from an image of a camera according to an embodiment of the present invention.

FIG. 7 is a diagram showing the inside of a vehicle having a display apparatus according to an embodiment of the present invention.

FIG. 8 is a flowchart of a method of providing a virtual traffic signal display function in a display apparatus according to an embodiment of the present invention.

FIG. 9 is an example of a situation where a virtual traffic signal is generated.

FIG. 10A is an example of a situation where a virtual traffic signal is provided.

FIG. 10B is a diagram showing provision of a virtual traffic signal display function in the situation of FIG. 10A, according to an embodiment of the present invention.

FIG. 11 is another example of a situation where a virtual traffic signal is provided.

FIG. 12 is a diagram showing provision of a virtual traffic signal display function in the situation of FIG. 11, according to an embodiment of the present invention.

FIG. 13A is another example of a situation where a virtual traffic signal is provided.

FIG. 13B is a diagram showing provision of a virtual traffic signal display function to a host vehicle in the situation of FIG. 13A.

FIG. 13C is a diagram showing provision of a virtual traffic signal display function to another vehicle in the situation of FIG. 13A.

FIG. 14 is an example of a situation where a virtual traffic signal is updated according to an embodiment of the present invention.

FIGS. 15 to 17 are diagrams showing various examples in which a virtual traffic signal display function according to an embodiment of the present invention is provided.

FIG. 18 is a flowchart of a method of providing a virtual traffic signal display function in a display apparatus according to an embodiment of the present invention in a situation

FIG. 19 is another example of a situation where a virtual traffic signal display function is provided.

FIG. 20A is a diagram showing one example of provision of a virtual traffic signal display function to a host vehicle in the situation of FIG. 19.

FIG. 20B is a diagram showing another example of provision of a virtual traffic signal display function to a host vehicle in the situation of FIG. 19.

FIGS. 21 to 23B are diagrams showing various examples in which a virtual traffic signal display function according to an embodiment of the present invention is provided.

FIG. 24 is a block diagram showing the internal configuration of the vehicle having the display apparatus.

FIG. 25 is a schematic block diagram of a traffic information providing device according to an embodiment of the present invention.

FIG. 26 is a schematic block diagram of the traffic information providing device shown in FIG. 25.

FIG. 27 is a ladder diagram illustrating the operation of the traffic information providing system according to an embodiment of the present invention.

FIG. 28 is an exemplary view illustrating an embodiment in which the traffic information providing device obtains information of a vehicle that cannot perform communication, and provides traffic information to other vehicles when there is a vehicle that cannot perform communication

FIGS. 29A and 29B are exemplary views illustrating an embodiment in which the traffic information providing device changes traffic information and provides the changed traffic information while it provides traffic information, when an object such as a pedestrian shows up.

FIG. 30 is a ladder diagram illustrating the operation of the traffic information providing system according to an embodiment of the present invention.

FIG. 31 is an exemplary view showing an operation in which a driving assistance device informs a driver that the driving mode of a vehicle is changed into an automatic driving mode in accordance with automatic driving information received from the traffic information providing device.

FIG. 32 is an exemplary view showing an operation in which a driving assistance device informs a driver that the driving mode of a vehicle is changed into a manual driving mode in accordance with an automatic driving end signal received from the traffic information providing device.

FIG. 33 is an exemplary view showing an embodiment in which the traffic information providing device induces or controls a plurality of vehicles having the same driving routes to be driven together.

BEST MODE

Hereinafter, the embodiments disclosed in the present specification will be described in detail with reference to the accompanying drawings, and the same or similar elements are denoted by the same reference numerals even though they are depicted in different drawings and redundant descriptions thereof will be omitted. In the following description, with respect to constituent elements used in the following description, suffixes “module” and “unit” are used only in consideration of ease in preparation of the specification, and do not have distinct meanings. Accordingly, the suffixes “module” and “unit” may be used interchangeably. In addition, the accompanying drawings are provided only for a better understanding of the embodiments disclosed in the present specification and are not intended to limit technical ideas disclosed in the present specification. Therefore, it should be understood that the accompanying drawings include all modifications, equivalents and substitutions within the scope and sprit of the present invention.

Although the terms first, second, etc., may be used herein to describe various components, these components should not be limited by these terms. These terms are only used to distinguish one component from another component.

When a component is referred to as being “connected to” or “coupled to” another component, it may be directly connected to or coupled to another component or intervening components may be present. In contrast, when a component is referred to as being “directly connected to” or “directly coupled to” another component, there are no intervening components present.

As used herein, the singular form is intended to include the plural forms as well, unless context clearly indicates otherwise.

In the present application, it will be further understood that the terms “comprises”, includes,” etc. specify the presence of stated features, integers, steps, operations, elements, components, or combinations thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

A vehicle as described in this specification may include a car and a motorcycle. Hereinafter, a car will be focused upon.

A vehicle as described in this specification may include all of an internal combustion engine vehicle including an engine as a power source, a hybrid vehicle including both an engine and an electric motor as a power source, and an electric vehicle including an electric motor as a power source.

In the following description, the left of a vehicle means the left of the vehicle in the direction of travel and the right of the vehicle means the right of the vehicle in the direction of travel.

Further, a left hand drive (LHD) vehicle will be focused upon unless otherwise stated.

In the following description, the display apparatus is provided in a vehicle to exchange information necessary for data communication with the vehicle and to perform a driver assistance function. A set of some units of the vehicle may be defined as a display apparatus.

When the display apparatus is separately provided, at least some units (see FIG. 2) of the display apparatus are not included in the display apparatus but may be units of the vehicle or units of another apparatus mounted in the vehicle. Such external units transmit and receive data via an interface of the display apparatus and thus may be understood as being included in the display apparatus.

Hereinafter, for convenience of description, assume that the display apparatus according to the embodiment directly includes the units shown in FIG. 2.

Referring to FIG. 1, the vehicle according to the embodiment includes wheels 13FL and 13RL rotated by a power source and a display apparatus 100 for providing driver assistance information to a user. The display apparatus 100 may be a display apparatus mounted on a vehicle or a mobile terminal communicable with a vehicle. The following description will be given under the assumption that the display apparatus 100 is a display apparatus mounted within the vehicle to display a virtual traffic signal by using a graphic image.

When another vehicle having a possibility of intersection is detected in the vicinity of a host vehicle, the display apparatus 100 may display a virtual traffic signal based on a position relationship between the another vehicle and the host vehicle, providing operation to be performed by a driver.

Herein, the “possibility of intersection” means that a predicted movement route of the host vehicle and a predicted movement route of another vehicle have an intersection area in which they overlap each other. In another aspect, the “possibility of intersection” means that an extended line of the movement route of the host vehicle and an extended line of the movement route of the another vehicle intersect with each other.

Also, the virtual traffic signal may include a blue light icon indicating driving permission, a red light icon indicating driving prohibition, and a yellow light icon indicating driving caution. That is, when another vehicle having risk of collision is detected, the display apparatus 100 generates and displays a virtual traffic signal, thus inducing a driver to intuitively perform driving operation in consideration of the risk of collision, preventing collision.

In this instance, the display apparatus 100 shares the virtual traffic signal with the another vehicle through wireless communication, thus providing the pre-agreed virtual traffic signal, inducing safe driving, and enhancing traffic efficiency.

In the following, components constituting the display apparatus 100 will be described in detail with reference to FIGS. 2 to 7. Referring to FIG. 2, such a display apparatus 100 may include an input unit 110, a communication unit 120, an interface 130, a memory 140, a sensor unit 155, a processor 170, a display unit 180, an audio output unit 185 and a power supply 190. The units of the display apparatus 100 shown in FIG. 2 are not essential to implementation of the display apparatus 100 and thus the display apparatus 100 described in the present specification may have components greater or less in number than the number of the above-described components.

Each component will now be described in detail. The display apparatus 100 may include the input unit 110 for receiving user input. A user can perform input for settings of a virtual traffic display function provided by the display apparatus 100 or turn on/off the power supply of the display apparatus 100, through the input unit 110. For example, the user may set a region on which the virtual traffic signal is to be displayed, a size of the virtual traffic signal, or the like, through the input unit 110.

The input unit 110 may include at least one of a gesture input unit (e.g., an optical sensor, etc.) for sensing a user gesture, a touch input unit (e.g., a touch sensor, a touch key, a push key (mechanical key), etc.) for sensing touch and a microphone for sensing voice input and receive user input.

Next, the display apparatus 100 may include the communication unit 120 for communicating with another vehicle 510, a terminal 600 and a server 500. The display apparatus 100 may receive communication information including at least one of navigation information, driving information of another vehicle and traffic information via the communication unit 120. In contrast, the display apparatus 100 may transmit information on this vehicle via the communication unit 120.

The communication information may be included in vehicle periphery information. Further, the display apparatus 100 may transmit information on the host vehicle through the communication unit 120.

According to an embodiment, the communication unit 120 may transmit and receive information on a virtual traffic signal (hereinafter referred to as “virtual traffic signal information”) to and from the another vehicle 510 in a wireless manner. Specifically, the communication unit 120 may receive the virtual traffic signal information from the another vehicle 510 that is in a predetermined distance range and transmit the virtual traffic signal information generated by the processor 170 to the another vehicle 510.

Also, the another vehicle 510 and the display apparatus 100 may generate a pre-agreed virtual traffic signal together based on information transmitted and received through the communication unit 120. In more detail, the communication unit 120 may receive at least one of position information, weather information and road traffic condition information (e.g., transport protocol experts group (TPEG), etc.) from the mobile terminal 600 and/or the server 500.

The communication unit 120 may receive traffic information from the server 500 having an intelligent traffic system (ITS). Here, the traffic information may include traffic signal information, lane information, vehicle surrounding information or position information.

In addition, the communication unit 120 may receive navigation information from the server 500 and/or the mobile terminal 600. Here, the navigation information may include at least one of map information related to vehicle driving, lane information, vehicle position information, set destination information and route information according to the destination.

For example, the communication unit 120 may receive the real-time position of the vehicle as the navigation information. In more detail, the communication unit 120 may include a global positioning system (GPS) module and/or a Wi-Fi (Wireless Fidelity) module and acquire the position of the vehicle.

In addition, the communication unit 120 may receive driving information of the other vehicle 510 from the other vehicle 510 and transmit information on this vehicle, thereby sharing driving information between vehicles. Here, the shared driving information may include vehicle traveling direction information, position information, vehicle speed information, acceleration information, moving route information, forward/reverse information, adjacent vehicle information and turn signal information.

In addition, when a user rides in the vehicle, the mobile terminal 600 of the user and the display apparatus 100 may pair with each other automatically or by executing a user application. The communication unit 120 may exchange data with the other vehicle 510, the mobile terminal 600 or the server 500 in a wireless manner.

In more detail, the communication module 120 can perform wireless communication using a wireless data communication method. As the wireless data communication method, technical standards or communication methods for mobile communications (for example, Global System for Mobile Communication (GSM), Code Division Multiple Access (CDMA), CDMA2000 (Code Division Multiple Access 2000), EV-DO (Evolution-Data Optimized), Wideband CDMA (WCDMA), High Speed Downlink Packet Access (HSDPA), HSUPA (High Speed Uplink Packet Access), Long Term Evolution (LTE), LTE-A (Long Term Evolution-Advanced), and the like) may be used.

The communication unit module 120 is configured to facilitate wireless Internet technology. Examples of such wireless Internet technology include Wireless LAN (WLAN), Wireless Fidelity (Wi-Fi), Wi-Fi Direct, Digital Living Network Alliance (DLNA), Wireless Broadband (WiBro), Worldwide Interoperability for Microwave Access (WiMAX), High Speed Downlink Packet Access (HSDPA), HSUPA (High Speed Uplink Packet Access), Long Term Evolution (LTE), LTE-A (Long Term Evolution-Advanced), and the like.

In addition, the communication unit 120 is configured to facilitate short-range communication. For example, short-range communication may be supported using at least one of Bluetooth™, Radio Frequency IDentification (RFID), Infrared Data Association (IrDA), Ultra-Wideband (UWB), ZigBee, Near Field Communication (NFC), Wireless-Fidelity (Wi-Fi), Wi-Fi Direct, Wireless USB (Wireless Universal Serial Bus), and the like.

In addition, the display apparatus 100 may pair with the mobile terminal located inside the vehicle using a short-range communication method and wirelessly exchange data with the other vehicle 510 or the server 500 using a long-distance wireless communication module of the mobile terminal.

Next, the display apparatus 100 may include the interface 130 for receiving data of the vehicle and transmitting a signal processed or generated by the processor 170.

Specifically, the display apparatus 100 may receive at least one of the driving information, navigation information, and sensor information of another vehicle through the interface unit 130. The received information may be included in the vehicle periphery information.

Also, the display apparatus 100 may transmit a signal for controlling a driver assistance function, information generated by the display apparatus 100, or the like to the control unit 770 of the vehicle through the interface unit 130 based on the virtual traffic signal. For example, the display apparatus 100 can control an Idle Stop and Go (ISG) function based on the virtual traffic signal. Specifically, the display apparatus 100 transmits a control signal to stop an engine of the vehicle during a driving stop time to the control unit 770, thus reducing unnecessary fuel consumption.

Thus, the interface 130 can perform data communication with at least one of the controller 770 of the vehicle, an audio-video-navigation (AVN) apparatus 400 and the sensing unit 760 using a wired or wireless communication method.

In more detail, the interface 130 may receive navigation information by data communication with the controller 770, the AVN apparatus 400 and/or a separate navigation apparatus.

In addition, the interface 130 may receive sensor information from the controller 770 or the sensing unit 760. Here, the sensor information may include at least one of vehicle traveling direction information, vehicle position information, vehicle speed information, acceleration information, vehicle tilt information, forward/reverse information, fuel information, information on a distance from a preceding/rear vehicle, information on a distance between a vehicle and a lane and turn signal information, etc.

The sensor information may be acquired from a heading sensor, a yaw sensor, a gyro sensor, a position module, a vehicle forward/reverse sensor, a wheel sensor, a vehicle speed sensor, a vehicle tilt sensor, a battery sensor, a fuel sensor, a tire sensor, a steering sensor based on rotation of the steering wheel, a vehicle interior temperature sensor, a vehicle interior humidity sensor, a door sensor, etc. The position module may include a GPS module for receiving GPS information.

The interface 130 may receive user input via the user input unit 110 of the vehicle. The interface 130 may receive user input from the input unit of the vehicle or via the controller 770. That is, when the input unit is provided in the vehicle, user input may be received via the interface 130.

In addition, the interface 130 may receive traffic information acquired from the server. The server 500 may be located at a traffic control surveillance center for controlling traffic. For example, when traffic information is received from the server 500 via the communication unit 120 of the vehicle, the interface 130 may receive traffic information from the controller 770.

Next, the memory 140 may store a variety of data for overall operation of the display apparatus 100, such as a program for processing or control of the controller 170. In addition, the memory 140 may store data and commands for operation of the display apparatus 100 and a plurality of application programs or applications executed in the display apparatus 100. At least some of such application programs may be downloaded from an external server through wireless communication. At least one of such application programs may be installed in the display apparatus 100 upon release, in order to provide the basic function (e.g., the driver assistance information guide function) of the display apparatus 100.

Such application programs may be stored in the memory 140 and may be executed to perform operation (or function) of the display apparatus 100 by the processor 170. The memory 140 may store data for checking an object included in an image. For example, the memory 140 may store data for checking a predetermined object using a predetermined algorithm when the predetermined object is detected from an image of the vicinity of the vehicle acquired through the camera 160.

For example, the memory 140 may store data for checking the object using the predetermined algorithm when the predetermined algorithm such as a lane, a traffic sign, a two-wheeled vehicle and a pedestrian is included in an image acquired through the camera 160.

The memory 140 may be implemented in a hardware manner using at least one selected from among a flash memory, a hard disk, a solid state drive (SSD), a silicon disk drive (SDD), a micro multimedia card, a card type memory (e.g., an SD or XD memory, etc.), a random access memory (RAM), a static random access memory (SRAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM), a magnetic memory, a magnetic disk and an optical disc. In addition, the display apparatus 100 may operate in association with a network storage for performing a storage function of the memory 140 over the Internet.

Next, the display apparatus 100 may further include the sensor unit 155 for sensing objects located in the vicinity of the vehicle. The display apparatus 100 may include the sensor unit 155 for sensing peripheral objects and may receive the sensor information obtained by the sensing unit 770 of the vehicle via the interface 130. The acquired sensor information may be included in the information on the vehicle surrounding information.

The sensor unit 155 may include at least one of a distance sensor 150 for sensing the position of an object located in the vicinity of the vehicle and a camera 160 for capturing the image of the vicinity of the vehicle. First, the distance sensor 150 may accurately sense the position of the object located in the vicinity of the vehicle, a distance between the object and the vehicle, a movement direction of the object, etc. The distance sensor 150 may continuously measure the position of the sensed object to accurately sense change in positional relationship with the vehicle.

The distance sensor 150 may sense the object located in at least one of the front, rear, left and right areas of the vehicle. The distance sensor 150 may be provided at various positions of the vehicle. In more detail, referring to FIG. 3, the distance sensor 150 may be provided at at least one of the front, rear, left and right sides and ceiling of the vehicle.

The distance sensor 150 may include at least one of various distance measurement sensors such as a Lidar sensor, a laser sensor, an ultrasonic wave sensor and a stereo camera. For example, the distance sensor 150 is a laser sensor and may accurately measure a positional relationship between the vehicle and the object using a time-of-flight (TOF) and/or a phase-shift method according to a laser signal modulation method.

Information on the object may be acquired by analyzing the image captured by the camera 160 at the processor 170. In more detail, the display apparatus 100 may capture the image of the vicinity of the vehicle using the camera 160, analyze the image of the vicinity of the vehicle using the processor 170, detect the object located in the vicinity of the vehicle, determine the attributes of the object and generate sensor information.

The image information is at least one of the type of the object, traffic signal information indicated by the object, the distance between the object and the vehicle and the position of the object and may be included in the sensor information. In more detail, the processor 170 may detect the object from the captured image via image processing, track the object, measure the distance from the object, and check the object to analyze the object, thereby generating image information.

The camera 160 may be provided at various positions. In more detail, the camera 160 may include an internal camera 160 f for capturing an image of the front side of the vehicle within the vehicle and acquiring a front image.

Referring to FIG. 3, a plurality of cameras 160 may be provided at least one of the front, rear, right and left and ceiling of the vehicle. In more detail, the left camera 160 b may be provided inside a case surrounding a left side mirror. Alternatively, the left camera 160 b may be provided outside the case surrounding the left side mirror. Alternatively, the left camera 160 b may be provided in one of a left front door, a left rear door or an outer area of a left fender.

The right camera 160 c may be provided inside a case surrounding a right side mirror. Alternatively, the right camera 160 c may be provided outside the case surrounding the right side mirror. Alternatively, the right camera 160 c may be provided in one of a right front door, a right rear door or an outer area of a right fender.

In addition, the rear camera 160 d may be provided in the vicinity of a rear license plate or a trunk switch. The front camera 160 a may be provided in the vicinity of an emblem or a radiator grill. The processor 170 may synthesize images captured in all directions and provide an around view image viewed from the top of the vehicle. Upon generating the around view image, boundary portions between the image regions occur. Such boundary portions may be subjected to image blending for natural display.

In addition, the ceiling camera 160 e may be provided on the ceiling of the vehicle to capture the image of the vehicle in all directions. The camera 160 may directly include an image sensor and an image processing module. The camera 160 may process a still image or a moving image obtained by the image sensor (e.g., CMOS or CCD). In addition, the image processing module processes the still image or the moving image acquired through the image sensor, extracts necessary image information, and delivers the extracted image information to the processor 170.

In order to enable the processor 170 to more easily perform object analysis, in the embodiment, the camera 160 may be a stereo camera for capturing an image and, at the same time, measuring a distance from an object. The sensor unit 155 may be a stereo camera including the distance sensor 150 and the camera 160. That is, the stereo camera may acquire an image and, at the same time, sense a positional relationship with the object.

Hereinafter, referring to FIGS. 4 to 6, the stereo camera and a method of detecting image information by the processor 170 using the stereo camera will be described in greater detail. First, referring to FIG. 4, the stereo camera 160 may include a first camera 160 a including a first lens 163 a and a second camera 160 b including a second lens 163 b.

The display apparatus 100 may further include first and second light shield units 162 a and 162 b for shielding light incident upon the first and second lenses 163 a and 163 b. The display apparatus 100 may acquire stereo images of the vicinity of the vehicle from the first and second cameras 160 a and 160 b, detect disparity based on the stereo images, detect an object from at least one stereo image, and continuously track movement of the object after object detection.

Referring to FIG. 5, as one example of the block diagram of the internal configuration of the processor 170, the processor 170 of the display apparatus 100 may include an image preprocessor 410, a disparity calculator 420, an object detector 434, an object tracking unit 440 and an application unit 450. Although an image is processed in order of the image preprocessor 410, the disparity calculator 420, the object detector 434, the object tracking unit 440 and the application unit 450 in FIG. 5 and the following description, the present invention is not limited thereto.

The image preprocessor 410 may receive an image from the camera 160 and perform preprocessing. In more detail, the image preprocessor 410 can perform noise reduction, rectification, calibration, color enhancement, color space conversion (CSC), interpolation, camera gain control, etc. of the image. An image having definition higher than that of the stereo image captured by the camera 160 may be acquired.

The disparity calculator 420 may receive the images processed by the image preprocessor 410, perform stereo matching of the received images, and acquire a disparity map according to stereo matching. That is, disparity information of the stereo image of the front side of the vehicle may be acquired.

At this time, stereo matching may be performed in units of pixels of the stereo images or predetermined block units. The disparity map may refer to a map indicating the numerical value of binocular parallax information of the stereo images, that is, the left and right images.

The segmentation unit 432 can perform segmentation and clustering with respect to at least one image based on the disparity information from the disparity calculator 420. In more detail, the segmentation unit 432 may segment at least one stereo image into a background and a foreground based on the disparity information.

For example, an area in which the disparity information is less than or equal to a predetermined value within the disparity map may be calculated as the background and excluded. Therefore, the foreground may be segmented. As another example, an area in which the disparity information is greater than or equal to a predetermined value within the disparity map may be calculated as the foreground and extracted. Therefore, the foreground may be segmented. The background and the foreground may be segmented based on the disparity information extracted based on the stereo images to reduce signal processing speed, the amount of processed signals, etc. upon object detection.

Next, the object detector 434 may detect the object based on the image segment from the segmentation unit 432. That is, the object detector 434 may detect the object from at least one image based on the disparity information. In more detail, the object detector 434 may detect the object from at least one image. For example, the object may be detected from the foreground segmented by image segmentation.

Next, the object verification unit 436 may classify and verify the segmented object. Thus, the object verification unit 436 may use an identification method using a neural network, a support vector machine (SVM) method, an identification method by AdaBoost using Haar-like features or a histograms of oriented gradients (HOG) method.

The object verification unit 436 may compare the objects stored in the memory 140 and the detected object and verify the object. For example, the object verification unit 436 may verify a peripheral vehicle, a lane, a road surface, a traffic sign, a danger zone, a tunnel, etc. located in the vicinity of the vehicle.

The object tracking unit 440 may track the verified object. For example, the objects in the sequentially acquired stereo images may be verified, motion or motion vectors of the verified objects may be calculated and motion of the objects may be tracked based on the calculated motion or motion vectors. A peripheral vehicle, a lane, a road surface, a traffic sign, a danger zone, a tunnel, etc. located in the vicinity of the vehicle may be tracked.

Next, the application unit 450 may calculate a degree of risk, etc. based on various objects located in the vicinity of the vehicle, for example, another vehicle, a lane, a road surface, a traffic sign, etc. In addition, possibility of collision with a preceding vehicle, whether a vehicle slips, etc. may be calculated.

The application unit 450 may output a message indicating such information to the user as driver assistance information based on the calculated degree of risk, possibility of collision or slip. Alternatively, a control signal for vehicle attitude control or driving control may be generated as vehicle control information.

The image preprocessor 410, the disparity calculator 420, the segmentation unit 432, the object detector 434, the object verification unit 436, the object tracking unit 440 and the application unit 450 may be included in the image processor (see FIG. 31) of the processor 170.

In some embodiments, the processor 170 may include only some of the image preprocessor 410, the disparity calculator 420, the segmentation unit 432, the object detector 434, the object verification unit 436, the object tracking unit 440 and the application unit 450. If the camera 160 includes a mono camera 160 or an around view camera 160, the disparity calculator 420 may be excluded. In some embodiments, the segmentation unit 432 may be excluded.

Referring to FIG. 6, during a first frame period, the camera 160 may acquire stereo images. The disparity calculator 420 of the processor 160 receives stereo images FR1 a and FR1 b processed by the image preprocessor 410, performs stereo matching with respect to the stereo images FR1 a and FR1 b and acquires a disparity map 520.

The disparity map 520 indicates the levels of binocular parallax between the stereo images FR1 a and FR1 b. As a disparity level increases, a distance from a vehicle may decrease and, as the disparity level decreases, the distance from the vehicle may increase. When such a disparity map is displayed, luminance may increase as the disparity level increases and decrease as the disparity level decreases.

In the figure, disparity levels respectively corresponding to first to fourth lanes 528 a, 528 b, 528 c and 528 d and disparity levels respectively corresponding to a construction area 522, a first preceding vehicle 524 and a second preceding vehicle 526 are included in the disparity map 520.

The segmentation unit 432, the object detector 434 and the object verification unit 436 can perform segmentation, object detection and object verification with respect to at least one of the stereo images FR1 a and FR1 b based on the disparity map 520. In the figure, object detection and verification are performed with respect to the second stereo image FR1 b using the disparity map 520.

That is, object detection and verification are performed with respect to the first to fourth lanes 538 a, 538 b, 538 c and 538 d, the construction area 532, the first preceding vehicle 534 and the second preceding vehicle 536 of the image 530. With image processing, the display apparatus 100 may acquire various surrounding information of the vehicle, such as peripheral objects or the positions of the peripheral objects, using the sensor unit 155, as sensor information. The vehicle periphery information acquired as described above may be a basis to determine whether to generate a virtual traffic signal or a basis to generate the virtual traffic signal.

Next, the display apparatus 100 may further include a display unit 180 which displays a graphic image associated with the virtual traffic signal. Specifically, the display unit may display the virtual traffic signal including a first graphic image indicating driving permission, a second graphic image indicating driving caution and a third graphic image indicating driving prohibition.

For example, with compliance with the domestic traffic law, the display unit 180 may provide the virtual traffic signal to a driver in such a way to display a blue light indicating driving permission, a yellow light indicating driving caution, and a red light indicating driving prohibition by using icons, and display activation and deactivation of the lights according to the virtual traffic signal.

Specifically, when the virtual traffic signal includes information indicating permission of the vehicle's entry to an intersection, the display unit 180 displays a graphic image in which a blue light is turned on and the remaining lights are turned off, thereby displaying the virtual traffic signal.

The display unit 180 may include a plurality of displays. In more detail, the display unit 180 may include a first display 180 a for projecting and displaying a graphic image onto and on a vehicle windshield W. That is, the first display 180 a is a head up display (HUD) and may include a projection module for projecting the graphic image onto the windshield W. The graphic image projected by the projection module may have predetermined transparency. Accordingly, a user may simultaneously view the front and rear sides of the graphic image.

The graphic image may overlap the image projected onto the windshield W to achieve augmented reality (AR). The display unit may include a second display 180 b separately provided inside the vehicle to display an image of the driver assistance function. In more detail, the second display 180 b may be a display of a vehicle navigation apparatus or a cluster located at an internal front side of the vehicle.

The second display 180 b may include at least one selected from among a Liquid Crystal Display (LCD), a Thin Film Transistor LCD (TFT LCD), an Organic Light Emitting Diode (OLED), a flexible display, a 3D display, and an e-ink display. The second display 180 b may be combined with a touch input unit to achieve a touchscreen.

Next, the audio output unit 185 may audibly output a message illustrating the function of the display apparatus 100 and checking whether the driver assistance function is performed. That is, the display apparatus 100 may provide explanation of the function of the display apparatus 100 via visual display of the display unit 180 and audio output of the audio output unit 185.

Next, the haptic output unit may output an alarm for the driver assistance function in a haptic manner. For example, the display apparatus 100 may output vibration to the user when a warning is included in at least one of navigation information, traffic information, communication information, vehicle state information, advanced driver assistance system (ADAS) function and other driver convenience information.

The haptic output unit may provide directional vibration. For example, the haptic output unit may be provided in a steering apparatus for controlling steering to output vibration. Left or right vibration may be output according to the left and right sides of the steering apparatus to enable directional haptic output.

In addition, the power supply 190 may receive power and supply power necessary for operation of the components under control of the processor 170. Lastly, the display apparatus 100 may include the processor 170 for controlling overall operation of the units of the display apparatus 100.

In addition, the processor 170 can control at least some of the components described with reference to FIG. 3 in order to execute the application program. Further, the processor 170 may operate by combining at least two of the components included in the display apparatus 100, in order to execute the application program.

The processor 170 may be implemented in a hardware manner using at least one selected from among Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors 170, and electric units for the implementation of other functions.

The processor 170 may be controlled by the controller or can control various functions of the vehicle through the controller. The processor 170 can control overall operation of the display apparatus 100 in addition to operation related to the application programs stored in the memory 140. The processor 170 may process signals, data, information, etc. via the above-described components or execute the application programs stored in the memory 170 to provide appropriate information or functions to the user. An example in which the display apparatus 100 provides the virtual traffic signal will be described below in detail with reference to FIGS. 8 to 17.

Referring to FIG. 8, the display apparatus 100 may acquire vehicle periphery information before entry to an intersection (S101). Specifically, the display apparatus 100 may acquire the vehicle periphery information by collecting sensor information and communication information. Such vehicle periphery information may include at least one of a position of a host vehicle, a speed of the host vehicle, information on a route to a destination, a position relationship with a peripheral object, a movement direction of the object, information on a predicted movement route, and the like.

When it is detected from the vehicle periphery information that the host vehicle 700 has not yet entered the intersection and there is no traffic system (for example, signal light) at the intersection, the processor 170 may generate a virtual traffic signal based on the vehicle periphery information and perform control such that display unit displays the virtual traffic signal.

In order to acquire the virtual traffic signal, the processor 170 may detect another vehicle 510 having a possibility of intersection from the vehicle periphery information (S102). Specifically, when the host vehicle is located in a predetermined distance from the another vehicle 510 and a predicted movement route of the host vehicle 700 overlaps a predicted movement route of the another vehicle 510, the processor 170 may detect the another vehicle 510 as having a possibility of intersection.

In another aspect, when a movement direction of the another vehicle 510 and a movement direction of the host vehicle 700 intersect with each other, the processor 170 may determine that there is a possibility of intersection. For example, referring to FIG. 9, the movement direction D1 of the host vehicle 700 driving on a road in a vertical direction is a left turn direction, and the movement direction D2 of the another vehicle 510 driving on a road in a horizontal direction is a straight direction, the predicted movement routes of the host vehicle 700 and the another vehicle 510 overlap each other at the intersection. Therefore, the another vehicle 510 has a possibility of intersection.

When the another vehicle 510 having the possibility of intersection is not detected before entry to the intersection, the processor 170 may generate a relevant virtual traffic signal and display the relevant virtual traffic signal through the display unit 180 (S103).

Specifically, it can be seen from FIG. 10A that there is a situation where the host vehicle 700 has not yet entered the intersection, the movement direction D1 thereof is a left turn direction, and there is no signal light at the intersection CS.

When the processor 170 detects the above-described situation through vehicle periphery information, the processor 170 may generate a virtual traffic signal indicating permission of entry to the intersection and display the virtual traffic signal through the display unit 180.

For example, referring to FIG. 10B, a first display unit 180 a may display an arrow-shaped blue light 10 c indicating permission of a left turn in an activated state and the remaining lights 10 a and 10 b in a deactivated state as the virtual traffic signal 10 i on the windshield.

Specifically, the first display unit 180 a may brightly display an arrow icon 10 c indicating a left-turn direction in blue color and darkly display the red light 10 a and the yellow light 10 b on the upper center of the windshield. A driver which has seen the virtual traffic signal 10 i intuitionally recognizes that safe entry to the intersection is possible, thus achieving safe driving and preventing unnecessary deceleration before entry to the intersection. It is noted that, when there is a pedestrian having a possibility of intersection, the first display unit 180 a may display the virtual traffic signal 10 i in which the red right 10 a is activated.

The processor 170 allows the host vehicle to pass through the intersection while broadcasting the generated virtual traffic signal 10 i through the communication unit. Specifically, in the case of entry to an intersection with no traffic signal light, the processor 170 generates the virtual traffic signal 10 i and provides the virtual traffic signal 10 i to the driver. In addition, the processor 170 shares the virtual traffic signal 10 i with peripheral vehicles, thus enabling driving according to the pre-agreed traffic signal and achieving safe driving and efficient traffic circulation.

Referring to the situation where there is another vehicle 510 having a possibility of intersection, the display apparatus 100 may attempt to communicate with the another vehicle 510 through the communication unit (S104). When there occurs a situation where communication with the another vehicle 510 is impossible through the communication unit, the processor 170 may generate the virtual traffic signal 10 i, to which the situation is reflected, and display the virtual traffic signal 10 i through the display unit 180.

Specifically, when it is detected that there is a possibility of intersection with the another vehicle 510 with which it is impossible to communicate, the processor 170 can perform control to generate and display a virtual traffic signal 10 i indicating driving prohibition or driving caution in order for safe driving. For example, the first display unit 180 a displays a red light 10 a indicating driving prohibition in an activated state and the remaining lights in an deactivated state, inducing the driver to stop prior to entry to the intersection, and therefore, preventing collision with the another vehicle 510 in advance.

Further, the display apparatus 100 may receive the virtual traffic signal 10 i from the another vehicle 510 before entry to the intersection (S105). Specifically, in the case of entry to the intersection, the display apparatus 100 may transmit the virtual traffic signal 10 i indicating prohibition of entry to the intersection to other vehicles 510 each having a possibility of intersection.

Similarly, the display apparatus 100 may receive the virtual traffic signal 10 i from the another vehicle 510 which has entered the intersection, before entry to the intersection. When receiving the virtual traffic signal 10 i from the another vehicle 510, the display apparatus 100 may determine whether the virtual traffic signal 10 i is valid, and display the received virtual traffic signal 10 i (S106).

Specifically, referring to FIG. 11, the vehicle 510, entered the intersection, may generate a virtual traffic signal 20 i indicating driving prohibition and transmit the virtual traffic signal 20 i to other vehicles 700 each having a possibility of intersection, which are located in the vicinity of the vehicle 510.

Referring to FIG. 12, the vehicle 700, which has received the virtual traffic signal 10 i from the another vehicle 510 entered the intersection, displays the virtual traffic signal 10 i indicating prohibition of entry to the intersection, thus sharing the pre-agreed traffic signal and enabling driving according to the pre-agreed traffic signal.

When a plurality of vehicles have not yet entered the intersection and communication therebetween is possible, the display apparatus 100 may acquire a virtual traffic signal according to vehicle periphery information (S107). In addition, the display apparatus 100 may share the virtual traffic signal with the another vehicle 510 having a possibility of intersection (S108).

Specifically, the host vehicle 700 and the another vehicle 510 may generate a virtual traffic signal together while sharing driving information with each other. The host vehicle 700 may receive the virtual traffic signal generated by the another vehicle 510. Alternatively, the host vehicle 700 may directly generate a virtual traffic signal and transmit the virtual traffic signal to the another vehicle 510. In this way, the virtual traffic signal is shared by the host vehicle 700 and the another vehicle 510, thus allowing acquirement of the virtual traffic signal.

A description will be given by taking an example where the host vehicle 700 directly generates a virtual traffic signal and transmits the virtual traffic signal to the another vehicle 510. When it is detected that the host vehicle 700 and the another vehicle 510 have not yet entered the intersection and there is a possibility that the host vehicle 700 and the another vehicle 510 intersect each other, the processor 170 may generate a virtual traffic signal according to the vehicle periphery information.

In this instance, when communication with the another vehicle 510 is possible, the processor 170 may generate a virtual traffic signal for performing control such that one of the host vehicle 700 and the another vehicle 510 displays a virtual traffic signal in which a blue light is activated, and the other of the host vehicle 700 and the another vehicle 510 displays a virtual traffic signal in which a red light is activated.

That is, the processor 170 generates the virtual traffic signal for instructing one of the host vehicle 700 and the another vehicle 510 to stop before entry to the intersection, and the other to pass through the intersection and perform control such that the host vehicle 700 and the another vehicle 510 both display the virtual traffic signal, preventing a vehicle accident and enhancing traffic efficiency.

For example, the processor 170 calculates which of the another vehicle 510 and the host vehicle 700 first reaches an intersection area, and performs control such that a vehicle to first reach the intersection area displays a virtual traffic signal in which a blue light is activated and the remaining vehicle displays a virtual traffic signal in which a red light is activated. For example, the processor 170 can estimate a vehicle to first reach the intersection area of the another vehicle 510 and the host vehicle 700 on the basis of the speeds of the another vehicle 510 and the host vehicle 700 and the distance from the intersection area (location information).

Meanwhile, the processor 170 can set a vehicle to first pass the intersection area of the another vehicle 510 and the host vehicle 700 and can show the virtual traffic signal on the basis of the priority of driving at the intersection area under traffic rules or whether there is an emergency vehicle.

It can be seen from FIG. 13A that, since the host vehicle 700 is scheduled to drive in a left-turn direction and the another vehicle 510 is scheduled to drive straight in a horizontal direction, there is a possibility of intersection between the host vehicle 700 and the another vehicle 510 and the host vehicle 700 is closer to the intersection than the another vehicle 510.

The processor 170 may detect the above-described situation from the vehicle periphery information and perform control such that the host vehicle 700 displays a virtual traffic signal 10 i in which a blue light 10 c indicating permission of left-turn driving is activated and the another vehicle 510 displays a virtual traffic signal 20 i in which a red light 10 a indicating prohibition of entry to the intersection is activated.

Therefore, referring to FIG. 13B, the first display unit 180 a of the host vehicle 700 may display a virtual traffic signal 10 i indicating permission of left-turn driving. In this instance, the first display unit 180 a may display a driving direction along with the signal indicating permission of left-turn driving, thus allowing a driver to be convinced that left-turn driving is safe.

Referring to FIG. 13C, the another vehicle 510 may receive the virtual traffic signal and display the virtual traffic signal 20 i in which the red light indicating prohibition of entry to the intersection is activated on the windshield. In this instance, the display unit 510 of the another vehicle 510 may also display a waiting time, thus helping the driver in predicting a time during which the vehicle stops.

That is, the processor 170 may further include a driving prohibition time, a driving prohibition reason, a movement direction in which driving is permitted, in the virtual traffic signal, in addition to driving caution, driving prohibition, and driving permission. Further, the display apparatus 100 can control a driver assistance function according to the virtual traffic signal (S110).

For example, the processor 170 can control the ISG function based on the virtual traffic signal. Specifically, when the processor 170 checks information on driving prohibition and information on a driving waiting time from the virtual traffic signal, the processor 170 can control the ISG function in such a way to stop an engine of the vehicle during the driving waiting time.

Further, the display apparatus 100 may periodically update the virtual traffic signal according to a change in the vehicle periphery information (S111). The display apparatus 100 may share the updated virtual traffic signal with the another vehicle 510 (S112).

Specifically, referring to FIG. 14, when an estimated time taken to pass through the intersection increases after the host vehicle 700 turns left and enters the intersection, the processor 170 may generate a virtual traffic signal 10 i having an increased driving waiting time and transmit the virtual traffic signal to the another vehicle 510. Therefore, an estimated waiting time of the virtual traffic time 10 i displayed on the windshield of the another vehicle 510 may be increased and displayed.

The display apparatus 100 may release the virtual traffic signal when no other vehicle 510 having a possibility of intersection is detected from the vehicle periphery information (S113). That is, the first display unit 180 a may not display the virtual traffic signal any more.

As describe above, the display apparatus 100 may generate and provide a virtual traffic signal or the like, which is pre-agreed between vehicles having a possibility of intersection at the intersection, preventing collision between vehicles and achieving smooth traffic flow at the intersection. Further, the virtual traffic signal display function may be also provided in driving situations, such as entry to a highway, lane change, escape from a highway, or entry to a bottleneck.

Referring to FIG. 15, the host vehicle 700 is entering a highway, and the another vehicle 510 is driving on a lane which the host vehicle 700 is scheduled to enter. When the display apparatus 100 determines that the another vehicle 510 is driving on a lane which the host vehicle 700 is scheduled to enter, based on the vehicle periphery information, the display apparatus 100 may determine the another vehicle 510 as having a possibility of intersection and generate a virtual traffic signal.

Specifically, the processor 170 may calculate which of the host vehicle 700 and the another vehicle 510 first reaches an intersection area. In addition, the processor 170 can perform control such that a vehicle to first reach the intersection area generates a virtual traffic signal 10 i in which a blue light indicating driving permission is activated.

Also, the processor 170 can perform control such that a vehicle to reach the intersection area later generates a virtual traffic signal 20 i in which a yellow light 20 b indicating instruction of deceleration and performs sharing of the virtual traffic signal 20 i through communication. When a speed of the host vehicle 700 is equal to or less than a predetermined speed, the processor 170 can perform control such that the another vehicle 510 displays the virtual traffic signal 20 i in which the red light 20 a indicating driving prohibition is activated.

Therefore, the virtual traffic signal 10 i in which the blue light 10 c indicating permission of entry to the highway is activated may be displayed on the windshield of the host vehicle 700 and the virtual traffic signal 20 i in which the yellow light 20 b indicating driving caution is activated may be displayed on the windshield of the another vehicle 510.

Therefore, a driver of the host vehicle 700 performs safe entry to a corresponding lane of the highway without deceleration and a driver of the another vehicle 510 performs driving against the host vehicle 700 in advance.

Referring to FIG. 16, there illustrated a situation where, since a lane on which the host vehicle 700 is driving is under the construction, the host vehicle 700 needs to perform lane change to a next lane. When it is checked that the host vehicle 700 is driving on a bottleneck section where a lane disappears, the display apparatus 100 may determine the another vehicle 510 driving behind the host vehicle 700 on the lane for lane change as having a possibility of intersection and generate a virtual traffic signal.

Specifically, the processor 170 may calculate which of the host vehicle 700 and the another vehicle 510 first reaches an intersection area. The processor 170 can perform control such that a vehicle to first reach the intersection area generates a virtual traffic signal in which a blue light indicating driving permission is activated.

Also, the processor 170 can perform control such that a vehicle to reach the intersection area later generates a virtual traffic signal 20 i in which a yellow light indicating instruction of deceleration is activated and performs sharing of the virtual traffic signal 20 i through communication.

When the speed of the host vehicle 700 is equal to or less than a predetermined speed, the processor 170 can perform control such that the another vehicle 510 displays a virtual traffic signal in which a red light indicating driving prohibition is activated.

Therefore, the virtual traffic signal 10 i in which the blue light 10 c indicating permission of lane change is activated may be displayed on the windshield of the host vehicle 700 and the virtual traffic signal 20 i in which the yellow light 20 b indicating driving caution is activated may be displayed on the windshield of the another vehicle 510. Therefore, a driver of the host vehicle 700 performs safe lane change without unnecessary deceleration and a driver of the another vehicle 510 performs driving against the host vehicle 700 in advance.

Referring to FIG. 17, even in a driving section in which a plurality of vehicles 700 a, 700 b, 700 c, 700 d and 700 e need to negotiate with one another (e.g., a lane reduction section or a congested section), the virtual traffic signal display function may be provided.

That is, it is possible to generate a virtual traffic signal which is agreed by the vehicles 700 a, 700 b, 700 c, 700 d, 700 e adjacent to one another through communication and perform sharing of the virtual traffic signal, thus achieving safe and smooth driving. The sharing of the virtual traffic signal can be ended after the vehicles 700 a, 700 b, 700 c, 700 d, 700 e pass a section that requires the communication or when the vehicles 700 a, 700 b, 700 c, 700 d, 700 e are spaced over a predetermined distance apart from one another.

An embodiment in which a virtual traffic signal is provided in a situation where there is a traffic signal will be described in detail below with reference to FIGS. 18 to 23.

Referring to FIG. 18, the display apparatus 100 may acquire vehicle periphery information (S201).

Specifically, the display apparatus 100 may acquire the vehicle periphery information by collecting sensor information and communication information. Such vehicle periphery information may include at least one of traffic signal information, a position of the host vehicle 700, a speed of the host vehicle 700, information on a route to a destination, a position relationship with a peripheral object, a movement direction of the object, information on a predicted movement route, and the like.

The processor 170 may acquire traffic signal information from the vehicle peripheral information (S202). Specifically, the processor 170 may acquire the traffic signal information by capturing a traffic signal light through the camera 160 and performing image processing on a captured image.

Also, the processor 170 may acquire the traffic signal information by receiving the traffic signal information from a road side unit (RSU) through the communication unit 110. The display apparatus 100 may detect another vehicle 510 having a possibility of intersection from the vehicle periphery information (S203).

Next, the processor 170 may determine whether the acquired traffic signal information is valid (S204). For example, the processor 170 may determine whether the traffic signal information is valid based on the vehicle periphery information. Specifically, when the traffic signal information indicates permission of driving of host vehicle 700 and there is the another vehicle 150 having a possibility of intersection, the processor 170 may determine that the traffic signal is invalid because there is a possibility of collision.

When the traffic signal is valid, the processor 170 can control a driving assistance function according to the traffic signal (S205). Specifically, the processor 170 may provide an ISG function for shutting down an engine during a driving waiting time of the traffic signal information.

When the traffic signal information is invalid, the processor 170 may generate a virtual traffic signal according to the vehicle periphery information (S206). In addition, the processor 170 can perform control so as to display the generated virtual traffic signal (S207).

Specifically, the processor 170 may generate a virtual traffic signal to indicate information opposite to the acquired traffic signal information. For example, referring to FIG. 19, a traffic signal 30 for the host vehicle 700 indicates that an arrow-shaped blue light indicating permission of left-turn driving is activated and a traffic signal 40 for the another vehicle 510 indicates that a red light indicating driving prohibition is activated. In addition, the another vehicle 510 is driving straight in a horizontal direction while violating a traffic signal, so that there is a possibility of intersection between the host vehicle 700 which is turning left and the another vehicle 510.

Therefore, the processor 170 may determine that the traffic signal 30, which indicates driving permission in spite of the another vehicle 510 having a possibility of intersection, is invalid, and generate a virtual traffic signal 10 i indicating driving prohibition.

Specifically, referring to FIG. 20A, the first display unit 180 a may display the virtual traffic signal 10 i indicating driving prohibition in the vicinity of a region to which the traffic signal 30 is projected on the windshield. Therefore, it is possible to previously prevent risk of collision which may occur when a driver checks only the traffic signal and drives the vehicle on confidence in the traffic signal.

Also, referring to FIG. 20B, the first display unit 180 a may display the virtual traffic signal 10 i indicating driving prohibition to overlap the region to which the traffic signal 30 is projected on the windshield. That is, the display apparatus 100 prevents the driver from seeing the traffic signal that is determined as being invalid, thus preventing the risk of collision in advance.

Further, the display apparatus 100 can control a driver assistance function according to the virtual traffic signal (S208). For example, the processor 170 can control the ISG function based on the virtual traffic signal. Specifically, the processor 170 can control the ISG function in such a way to shut down an engine during a driving waiting time when information indicating driving prohibition and information on the driving waiting time are checked from the virtual traffic signal.

Further, the display apparatus 100 may periodically update the virtual traffic signal according to a change in the vehicle periphery information (S209). The display apparatus 100 may share the updated virtual traffic signal with the another vehicle 510 (S210).

Subsequently, the display apparatus 100 may release the virtual traffic signal when no other vehicle 510 having a possibility of intersection is detected from the vehicle periphery information (S211). That is, the first display unit 180 a may not display the virtual traffic signal any more.

As described above, the display apparatus 100 may generate and display a virtual traffic signal when a traffic signal is invalid, thus preventing collision between vehicles and achieving smooth traffic flow at the intersection.

Various examples in which the virtual traffic signal is provided will now be described. The display apparatus 100 may provide a virtual traffic signal even when the another vehicle 510 does not violate a traffic signal.

Referring to FIG. 21, the another vehicle 510 is in a state of capable of turning right (D2), and the host vehicle 700 is in a state of capable of performing a U-turn. When the another vehicle 510 and the host vehicle 700 drive together, the another vehicle 510 and the host vehicle 700 may intersect with each other, thus causing risk of collision.

Therefore, the display apparatus 100 may determine a vehicle to first reach an intersection area and generate a virtual traffic signal. Specifically, when it is determined that the another vehicle 510 is capable of first entering the intersection area, the processor 170 performs control to transmit a virtual traffic signal 20 i indicating driving permission to the another vehicle 510 and display a virtual traffic signal 10 i indicating prohibition of U-turn driving on the windshield of the host vehicle 700.

Further, the display apparatus 100 is provided in a special vehicle to perform assistance such that the special vehicle rapidly reaches a destination in an emergency situation.

Referring to FIG. 22A, there illustrated a situation where a traffic signal light indicates driving prohibition with respect to a first vehicle 51 that is a special vehicle and indicates driving permission with respect to a second vehicle 52 and a third vehicle 53.

Referring to FIG. 22B, in an emergency situation, the display apparatus 100 of the first vehicle 51 transmits a virtual traffic signal indicating driving prohibition to vehicles in the vicinity of the first vehicle 51 and performs control such that the second vehicle 52 and the third vehicle 53 display the virtual traffic signal indicating driving permission on the windshield when communication with the second vehicle 52 and the third vehicle 53 is possible. Further, the display apparatus 100 may provide the virtual traffic signal display function to vehicles behind and ahead of a host vehicle in a driving direction.

Referring to FIG. 23A, the host vehicle 700 intends to turn right and a vehicle ahead intends to drive straight. In this instance, a traffic signal 30 indicates prohibition of straight driving, so that the host vehicle 700 cannot turn right. Referring to FIG. 23B, since the vehicle ahead cannot drive straight, the vehicle ahead may transmit a virtual traffic signal 10 i indicating prohibition of turn-right driving. The host vehicle 700, received the virtual traffic signal 10 i, may display the virtual traffic signal 10 i indicating prohibition of turn-right driving on the windshield. In this instance, a waiting time for driving prohibition may be a time obtained by adding a predetermined time to a time at which straight driving becomes possible.

As described above, the display apparatus 100 generates and provides an appropriate virtual traffic signal according to various situations, thus achieving safe driving and enhancing traffic efficiency and driver convenience.

Referring to the FIG. 24, the above-described display apparatus 100 may be included in the vehicle 700. The vehicle 700 may include a communication unit 710, an input unit 720, a sensing unit 760, an output unit 740, a vehicle drive unit 750, a memory 730, an interface 780, a controller 770, a power supply unit 790, a display apparatus 100 and AVN apparatus 400. Here, among the units included in the display apparatus 100 and the units of the vehicle 700, the units having the same names are described as being included in the vehicle 700.

The communication unit 710 may include one or more modules which permit communication such as wireless communication between the vehicle and the mobile terminal 600, between the vehicle and the external server 50 or between the vehicle and the other vehicle 510. Further, the communication unit 710 may include one or more modules which connect the vehicle to one or more networks. The external server 500 may be a server of a network provider, a server of a vehicle manufacturer, or a server of a traffic management system.

The communication unit 710 includes a broadcast receiving module 711, a wireless Internet module 712, a short-range communication module 713, and an optical communication module 715. The broadcast reception module 711 receives a broadcast signal or broadcast related information from an external broadcast management server through a broadcast channel. Here, the broadcast includes a radio broadcast or a TV broadcast.

The wireless Internet module 712 refers to a wireless Internet access module and may be provided inside or outside the vehicle. The wireless Internet module 712 transmits and receives a wireless signal through a communication network according to wireless Internet access technologies.

Examples of such wireless Internet access technologies include Wireless LAN (WLAN), Wireless Fidelity (Wi-Fi), Wi-Fi Direct, Digital Living Network Alliance (DLNA), Wireless Broadband (WiBro), Worldwide Interoperability for Microwave Access (WiMAX), High Speed Downlink Packet Access (HSDPA), HSUPA (High Speed Uplink Packet Access), Long Term Evolution (LTE), LTE-A (Long Term Evolution-Advanced), and the like. The wireless Internet module 712 may transmit/receive data according to one or more of such wireless Internet technologies, and other Internet technologies as well. For example, the wireless Internet module 712 may wirelessly exchange data with the external server 500. The wireless Internet module 712 may receive weather information and road traffic state information (e.g., transport protocol experts group (TPEG) information) from the external server 500.

The short-range communication module 713 is configured to facilitate short-range communication. Such short-range communication may be supported using at least one of Bluetooth™, Radio Frequency Identification (RFID), Infrared Data Association (IrDA), Ultra-Wideband (UWB), ZigBee, Near Field Communication (NFC), Wireless-Fidelity (Wi-Fi), Wi-Fi Direct, Wireless USB (Wireless Universal Serial Bus), and the like.

The short-range communication module 713 may form a wireless local area network to perform short-range communication between the vehicle and at least one external device. For example, the short-range communication module 713 may wirelessly exchange data with the mobile terminal 600. The short-range communication module 713 may receive weather information and road traffic state information (e.g., transport protocol experts group (TPEG) information) from the mobile terminal 600. When a user rides in the vehicle, the mobile terminal 600 of the user and the vehicle may pair with each other automatically or by executing the application of the user.

A location information module 714 acquires the location of the vehicle and a representative example thereof includes a global positioning system (GPS) module. For example, the vehicle may acquire the location of the vehicle using a signal received from a GPS satellite upon utilizing the GPS module.

The optical communication module 715 may include a light emitting unit and a light reception unit. The light reception unit may convert a light signal into an electric signal and receive information. The light reception unit may include a photodiode (PD) for receiving light. The photodiode may covert light into an electric signal. For example, the light reception unit may receive information on a preceding vehicle through light emitted from a light source included in the preceding vehicle.

The light emitting unit may include at least one light emitting element for converting electrical signals into a light signal. Here, the light emitting element may be a Light Emitting Diode (LED). The light emitting unit converts electrical signals into light signals to emit the light. For example, the light emitting unit may externally emit light via flickering of the light emitting element corresponding to a prescribed frequency. In some embodiments, the light emitting unit may include an array of a plurality of light emitting elements. In some embodiments, the light emitting unit may be integrated with a lamp provided in the vehicle. For example, the light emitting unit may be at least one selected from among a headlight, a taillight, a brake light, a turn signal, and a sidelight. For example, the optical communication module 715 may exchange data with the other vehicle 510 via optical communication.

The input unit 720 may include a driving operation unit 721, a camera 195, a microphone 723 and a user input unit 724. The driving operation unit 721 receives user input for driving of the vehicle (see FIG. 2). The driving operation unit 721 may include a steering input unit 721A, a shift input unit 721D, an acceleration input unit 721C and a brake input unit 721B.

The steering input unit 721A is configured to receive user input with regard to the direction of travel of the vehicle. The steering input unit 721A may include a steering wheel using rotation. In some embodiments, the steering input unit 721A may be configured as a touchscreen, a touch pad, or a button.

The shift input unit 721D is configured to receive input for selecting one of Park (P), Drive (D), Neutral (N), and Reverse (R) gears of the vehicle from the user. The shift input unit 721D may have a lever form. In some embodiments, the shift input unit 721D may be configured as a touchscreen, a touch pad, or a button.

The acceleration input unit 721C is configured to receive input for acceleration of the vehicle from the user. The brake input unit 721B is configured to receive input for speed reduction of the vehicle from the user. Each of the acceleration input unit 721C and the brake input unit 721B may have a pedal form. In some embodiments, the acceleration input unit 721C or the brake input unit 721B may be configured as a touchscreen, a touch pad, or a button.

The camera 722 may include an image sensor and an image processing module. The camera 722 may process a still image or a moving image obtained by the image sensor (e.g., CMOS or CCD). In addition, the image processing module processes the still image or the moving image acquired through the image sensor, extracts necessary information, and delivers the extracted information to the controller 770. The vehicle may include the camera 722 for capturing the front image of the vehicle or the image of the vicinity of the vehicle and the monitoring unit 725 for capturing the image of the space inside the vehicle.

The monitoring unit 725 may acquire an image of a passenger. The monitoring unit 725 may acquire an image for biometric information of the passenger. Although the monitoring unit 725 and the camera 722 are included in the input unit 720 in FIG. 24, the camera 722 may be included in the display apparatus 100 as described above.

The microphone 723 may process external sound signals into electrical data. The processed data may be utilized in various ways according to a function that the vehicle is performing. The microphone 723 may convert a user voice command into electrical data. The converted electrical data may be transmitted to the controller 770.

Meanwhile, in some embodiments, a camera 722 or the microphone 723 may not be included in the input unit 720 but may be included in the sensing unit 760. The user input unit 724 is configured to receive information from the user. When information is input via the user input unit 724, the controller 770 can control the operation of the vehicle to correspond to the input information. The user input unit 724 may include a touch input unit or a mechanical input unit. In some embodiments, the user input unit 724 may be located in a region of the steering wheel. In this instance, the driver may operate the user input unit 724 with the fingers while gripping the steering wheel.

The sensing unit 760 is configured to sense signals associated with, for example, signals related to driving of the vehicle. Thus, the sensing unit 760 may include a collision sensor, a wheel sensor, a speed sensor, tilt sensor, a weight sensor, a heading sensor, a yaw sensor, a gyro sensor, a position module, a vehicle forward/reverse sensor, a battery sensor, a fuel sensor, a tire sensor, a steering sensor based on rotation of the steering wheel, a vehicle interior temperature sensor, a vehicle interior humidity sensor, an ultrasonic sensor, a radar, a Lidar, etc.

As such, the sensing unit 760 may acquire sensing signals with regard to, for example, vehicle collision information, vehicle traveling direction information, vehicle location information (GPS information), vehicle angle information, vehicle speed information, vehicle acceleration information, vehicle tilt information, vehicle forward/reverse information, battery information, fuel information, tire information, vehicle lamp information, vehicle interior temperature information, vehicle interior humidity information, steering wheel rotation angle information, etc.

Meanwhile, the sensing unit 760 may further include, for example, an accelerator pedal sensor, a pressure sensor, an engine speed sensor, an Air Flow-rate Sensor (AFS), an Air Temperature Sensor (ATS), a Water Temperature Sensor (WTS), a Throttle Position Sensor (TPS), a Top Dead Center (TDC) sensor, and a Crank Angle Sensor (CAS).

The sensing unit 760 may include a biometric sensor. The biometric sensor senses and acquires biometric information of the passenger. The biometric information may include fingerprint information, iris-scan information, retina-scan information, hand geometry information, facial recognition information, and voice recognition information. The biometric sensor may include a sensor for sensing biometric information of the passenger. Here, the monitoring unit 725 and the microphone 723 may operate as a sensor. The biometric sensor may acquire hand geometry information and facial recognition information through the monitoring unit 725.

The output unit 740 is configured to output information processed by the controller 770. The output unit 740 may include a display unit 741, a sound output unit 742, and a haptic output unit 743.

The display unit 741 may display information processed by the controller 770. For example, the display unit 741 may display vehicle associated information. Here, the vehicle associated information may include vehicle control information for direct control of the vehicle or driver assistance information for aiding in driving of the vehicle. In addition, the vehicle associated information may include vehicle state information that indicates the current state of the vehicle or vehicle traveling information regarding traveling of the vehicle.

The display unit 741 may include at least one selected from among a Liquid Crystal Display (LCD), a Thin Film Transistor LCD (TFT LCD), an Organic Light Emitting Diode (OLED), a flexible display, a 3D display, and an e-ink display. The display unit 741 may configure an inter-layer structure with a touch sensor, or may be integrally formed with the touch sensor to implement a touchscreen. The touchscreen may function as the user input unit 724 which provides an input interface between the vehicle and the user and also function to provide an output interface between the vehicle and the user.

In this instance, the display unit 741 may include a touch sensor which senses a touch to the display unit 741 so as to receive a control command in a touch manner. When a touch is input to the display unit 741 as described above, the touch sensor may sense the touch and the controller 770 may generate a control command corresponding to the touch. Content input in a touch manner may be characters or numbers, or may be, for example, instructions in various modes or menu items that may be designated.

Meanwhile, the display unit 741 may include a cluster to allow the driver to check vehicle state information or vehicle traveling information while driving the vehicle. The cluster may be located on a dashboard. In this instance, the driver may check information displayed on the cluster while looking forward.

Meanwhile, in some embodiments, the display unit 741 may be implemented as a head up display (HUD). When the display unit 741 is implemented as a HUD, information may be output via a transparent display provided at the windshield. Alternatively, the display unit 741 may include a projector module to output information via an image projected onto the windshield.

The sound output unit 742 is configured to convert electrical signals from the controller 170 into audio signals and to output the audio signals. Thus, the sound output unit 742 may include, for example, a speaker. The sound output unit 742 may output sound corresponding to the operation of the user input unit 724.

The haptic output unit 743 is configured to generate tactile output. For example, the haptic output unit 743 may operate to vibrate a steering wheel, a safety belt, or a seat so as to allow the user to recognize an output thereof. The vehicle drive unit 750 can control the operation of various devices of the vehicle. The vehicle drive unit 750 may include at least one of a power source drive unit 751, a steering drive unit 752, a brake drive unit 753, a lamp drive unit 754, an air conditioner drive unit 755, a window drive unit 756, an airbag drive unit 757, a sunroof drive unit 758, and a suspension drive unit 759.

The power source drive unit 751 can perform electronic control of a power source inside the vehicle. For example, when a fossil fuel based engine is a power source, the power source drive unit 751 can perform electronic control of the engine. As such, the power source drive unit 751 can control, for example, an output torque of the engine. When the power source drive unit 751 is an engine, the power source drive unit 751 can control the speed of the vehicle by controlling the output torque of the engine under the control of the controller 770.

In another example, when an electric motor is a power source, the power source drive unit 751 can perform control of the motor. As such, the power source drive unit 751 can control, for example, the RPM and torque of the motor.

The steering drive unit 752 can perform electronic control of a steering apparatus inside the vehicle. The steering drive unit 752 may change the direction of travel of the vehicle.

The brake drive unit 753 can perform electronic control of a brake apparatus inside the vehicle. For example, the brake drive unit 753 may reduce the speed of the vehicle by controlling the operation of brakes located at wheels. In another example, the brake drive unit 753 may adjust the direction of travel of the vehicle leftward or rightward by differentiating the operation of respective brakes located at left and right wheels.

The lamp drive unit 754 may turn at least one lamp arranged inside and outside the vehicle on or off. In addition, the lamp drive unit 754 can control, for example, the intensity and direction of light of each lamp. For example, the lamp drive unit 754 can perform control of a turn signal lamp or a brake lamp.

The air conditioner drive unit 755 can perform electronic control of an air conditioner inside the vehicle. For example, when the interior temperature of the vehicle is high, the air conditioner drive unit 755 may operate the air conditioner to supply cold air to the interior of the vehicle.

The window drive unit 756 can perform electronic control of a window apparatus inside the vehicle. For example, the window drive unit 756 can control opening or closing of left and right windows of the vehicle. The airbag drive unit 757 can perform the electronic control of an airbag apparatus inside the vehicle. For example, the airbag drive unit 757 can control an airbag to be deployed in a dangerous situation.

The sunroof drive unit 758 can perform electronic control of a sunroof apparatus inside the vehicle. For example, the sunroof drive unit 758 can control opening or closing of a sunroof. The suspension drive unit 759 can perform electronic control of a suspension apparatus inside the vehicle. For example, when a road surface is uneven, the suspension drive unit 759 can control the suspension apparatus to reduce vibrations of the vehicle.

The memory 730 is electrically connected to the controller 770. The memory 730 may store basic data of the unit, control data for operation control of the unit and input/output data. The memory 730 may be various storage apparatuses, which are implemented in a hardware manner, such as a ROM, RAM, EPROM, flash drive and hard drive. The memory 730 may store a variety of data for overall operation of the vehicle, such as a program for processing or control of the controller 770.

The interface 780 may serve as a passage for various kinds of external devices that are connected to the vehicle. For example, the interface 780 may have a port that is connectable to the mobile terminal 600 and may be connected to the mobile terminal 600 via the port. In this instance, the interface 780 may exchange data with the mobile terminal 600.

The interface 780 may serve as a passage for providing electric energy to the connected mobile terminal 600. When the mobile terminal 600 is electrically connected to the interface 780, the interface 780 may provide electric energy supplied from the power supply unit 790 to the mobile terminal 600 under control of the controller 770.

The controller 770 can control the overall operation of each unit inside the vehicle. The controller 770 may be referred to as an Electronic Control Unit (ECU). The controller 770 can perform a function corresponding to the delivered signal according to delivery of a signal for executing the display apparatus 100.

The controller 770 may be implemented in a hardware manner using at least one selected from among Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, and electric units for the implementation of other functions.

The controller 770 can perform the role of the above-described processor 170. That is, the processor 170 of the display apparatus 100 may be directly set in the controller 770 of the vehicle. In such an embodiment, the display apparatus 100 may be understood as a combination of some components of the vehicle. Alternatively, the controller 770 can control the components to transmit information requested by the processor 170. The power supply unit 790 may supply power required to operate the respective components under the control of the controller 770. In particular, the power supply unit 790 may receive power from, for example, a battery inside the vehicle.

The AVN apparatus 400 may exchange data with the controller 770. The controller 770 may receive navigation information from the AVN apparatus or a separate navigation apparatus. Here, the navigation information may include destination information, information on a route to the destination, map information related to vehicle traveling and current position information of the vehicle.

Embodiments in which the display apparatus 100 in the vehicle 700 creates and provides a virtual traffic signal are shown in FIGS. 8 to 23B.

Depending on embodiments, traffic information such as the virtual traffic signal may be created and provided by a traffic information providing device 1000 (see FIG. 25) that is a server or an RSU that can communicate with the vehicle 700 or the display device 100. That is, embodiments of the virtual traffic signal that is created by the display device 100 in FIGS. 8 to 23B can be similarly applied to the traffic information providing device 1000.

Embodiments related to traffic information that is provided by the traffic information providing device 1000, such as a virtual traffic signal, are described hereafter with reference to FIGS. 25 to 33.

The driving assistance device 100 shown in the following figures may mean the display apparatus 100 shown in FIG. 2.

FIG. 25 is a schematic block diagram showing a traffic information providing system according to an embodiment of the present invention.

Referring to FIG. 25, a traffic information providing system 10 may include a traffic information providing device 1000 that creates and provides traffic information on the basis of driving information of vehicles 700 a, 700 b, 700 c.

The traffic information providing device 100 may be a server connected to the vehicles 700 a, 700 b, 700 c through a network 800. The server may be the server 500 shown in FIGS. 2 and 24. The server may be a server that is operated by a network provider, a car manufacturer, or a provider of the driving assistance device 100, or a server of a traffic management system.

Depending on embodiments, the traffic information providing device 1000 may mean an Roadside Unit (RSU) connected to the vehicles 700 a, 700 b, 700 c. In this case, the traffic information providing device 1000 may be connected with the vehicles 700 a, 700 b, 700 c not through a specific network.

The RSU can be installed on or around a road. The RSU can perform communication (e.g., near-field communication) with at least one vehicle 700 in an area within a predetermined distance. Depending on embodiments, the RSU may perform communication (or near-field communication) with the driving assistance device 100 in the vehicle 700.

The RSU may be configured to communication with a server through a network 800.

The traffic information providing device 1000 can receive driving information from the vehicles 700 a, 700 b, 700 c. The traffic information providing device 1000 can detect an intersection area that driving routes of the vehicles 700 a, 700 b, 700 c cross, at an intersection, a rotary, and a ramp on the basis of the received driving information. The traffic information providing device 1000 can detect danger of a collision of the vehicles 700 a, 700 b, 700 c at the intersection area. The intersection area may include not only an area without a signal lamp, but an area with a signal lamp.

When danger of a collision is detected, the traffic information providing device 1000 can provide traffic information for avoiding a collision of vehicles. The traffic information may include driving guidance information or automatic driving information to be described below. The driving inducement information and the automatic driving information are described below with reference to FIGS. 26 to 33.

The vehicles 700 a, 700 b, 700 c each may include a communication unit 710 connected with the traffic information providing device 1000 directly or through the network 800. Depending on embodiments, when the vehicles 700 a, 700 b, 700 c are not provided with the communication unit 710, the vehicles 700 a, 700 b, 700 c may be connected with the traffic information providing device 1000 through the driving assistance device 100. The driving assistance device 100 may be a device integrated with each of the vehicles 700 a, 700 b, 700 c or a separate device disposed in a vehicle and connected with the controller 770 of the vehicle.

The driving assistance device 100 is connected with the traffic information providing device 1000 in FIGS. 27 and 30, but the present invention is not limited thereto, and the communication unit 710 of a vehicle may be connected with the traffic information providing device 1000.

That is, the vehicles 700 a, 700 b, 700 c may be connected with various devices through a Vehicle-To-Everything (V2X) communication technology. The V2X technology, which includes all types of communication technology that can be applied to vehicles and infrastructures, may include concepts such as Vehicle-To-Vehicle (VTV) communication, Vehicle-To-Infrastructure (V2I) communication, In-Vehicle Networking (IVN), Vehicle-To-Nomadic device (V2N) communication, and Vehicle-To-Pedestrian (V2P) communication.

The vehicles 700 a, 700 b, 700 c can transmit/receive various data related to driving to/from various devices by the V2X technology.

Meanwhile, a Cellular-V2X (C-V2X) technology for achieving connection, intellectualization, and self-driving of vehicles by more quickly exchanging data and minimizing response time has appeared with the development of communication technology (LTE, 5G communication technology). C-V2X can enable communication among vehicles and various devices, using a wireless communication module in the vehicles or existing communication networks (e.g., an LTE network). C-V2X enables the vehicles 700 a, 700 b, 700 c to obtain information related to driving with communication with another vehicle, a road infrastructure, a pedestrian, etc. Further, the vehicles 700 a, 700 b, 700 c can obtain remote traffic information (e.g., accident information several kilometers ahead and informing of a parking space) through a communication network.

Although the plurality of vehicles includes the three vehicles 700 a, 700 b, 700 c for the convenience of description in FIG. 25, the number of the plurality of vehicles is not limited thereto.

FIG. 26 is a schematic block diagram of the traffic information providing device shown in FIG. 25.

Referring to FIG. 26, traffic information providing device 1000 may include a communication unit 1010, a memory 1020, and a controller 1030.

When the traffic information providing device 1000 is a server, the communication unit 1010 may include a communication module (e.g., a wire LAN module) that enables communication among the traffic information providing device 1000 and the vehicles 700 a, 700 b, 700 c through the network 800.

When the traffic information providing device 1000 is an RSU, the communication unit 1010 may include a communication module (e.g., a near-field communication module) that enables communication (e.g., near-field communication) among the RSU and the vehicles 700 a, 700 b, 700 c.

The memory 1020 can store various items of information and data related to the operation of the traffic information providing device 1000. In particular, the memory 1020 can store various data or algorithms related to the operations of a driving information analysis module 1032, a driving guidance information creating module 1034, and an automatic driving information creation module 1036.

The controller 1030 can control general operations of the components included in the traffic information providing device 1000. The controller 1030 may be various processors such as a CPU.

According to an embodiment of the present invention, the controller 1030 can receive driving information from the vehicles 700 a, 700 b, 700 c through the communication unit 1010. The controller 1030 can perceive whether the vehicles 700 a, 700 b, 700 c cross one another and collide with one another on the basis of the received driving information, using the driving information analysis module 1032. When danger of a collision of vehicles is perceived, the controller 1030 can create driving guidance information for avoiding the collision of vehicles, using the driving guidance information creating module 1034. The driving guidance information may include at least one of information about whether driving into the intersection area is allowed, information about the point of time of entering the intersection area, speed information of a vehicle, and steering information. For example, the information about whether driving into the intersection area is allowed can be provided in the type of a virtual traffic signal described with reference to FIG. 8, etc., so information about driving permission (e.g., a green signal) or driving prohibition (e.g., a red signal), etc. can be provided to a driver.

Alternatively, the controller 1030 can create automatic driving information for avoiding a collision of vehicles, using the automatic driving information creation module 1036. The automatic driving information, which is operating information for the controller 770 in the vehicle 700 to perform automatic driving by controlling a vehicle driving unit 750, may include speed information, steering information, etc.

The controller 1030 can transmit the created driving guidance information or automatic driving information to vehicles through the communication unit 1010.

The operations of the traffic information providing device 100 according to an embodiment of the present invention and a traffic information providing system including the traffic information providing device 100 are described hereafter in detail with reference to FIGS. 27 to 33.

FIG. 27 is a ladder diagram illustrating the operation of the traffic information service system according to an embodiment of the present invention.

Referring to FIG. 27, the driving assistance device 100 can transmit driving information about driving of the vehicle 700 to the traffic information providing device 1000 (S2700).

The processor 170 of the driving assistance device 100 can create (or obtain) driving information while the vehicle 700 is driven. The driving information may include at least one or more of destination information, current location information, speed information, driving route information based on the destination information and the current location information, information about the type of a vehicle (whether it is an emergency vehicle, etc.), information about the location relationship, the movement direction, or an expected movement route, etc. of objects around a vehicle.

The driving information may mean information about the surrounding of a vehicle that is obtained by the display apparatus 100 of FIG. 8. That is, as described in detail with reference to FIG. 8, the processor 170 of the driving assistance device 100 can create the driving information by synthesizing various items of sensor information and communication information.

The processor 170 can transmit the created driving information to the traffic information providing device 1000 through the communication unit 120.

The traffic information providing device 1000 can receive driving information from the vehicles 700 a, 700 b, 700 c and can detect vehicles having danger of a collision on the basis of the received driving information.

In detail, the controller 1030 of the traffic information providing device 100 can detect an intersection area on driving routes from driving information of vehicles. The controller 1030 can detect that there is an intersection area on the driving routes of specific vehicles (e.g., the first vehicle 700 a and the second vehicle 700 b) from driving route information of vehicles.

When intersection areas are detected for specific vehicles, the controller 1030 can check whether there is danger of a collision of the specific vehicles at the intersection areas.

For example, an intersection area of the first vehicle 700 a and the second vehicle 700 b is detected, the controller 1030 can calculate the points of time when the first vehicle 700 a and the second vehicle 700 b enter the intersection area on the basis of location information and speed information of the first vehicle 700 a and location information and speed information of the second vehicle 700 b. The controller 1030 can check whether there is danger of a collision at the intersection area on the basis of the points of time calculated for the first vehicle 700 a and the second vehicle 700 b. For example, when the difference between the points of time calculated for the first vehicle 700 a and the second vehicle 700 b is a reference value or less, the controller 1030 can determine that there is danger of a collision. When there is danger of a collision as the result of calculation, the controller 1030 can recognize the first vehicle 700 a and the second vehicle 700 b as vehicles having danger of a collision.

The traffic information providing device 1000 can create driving guidance information for avoiding a collision of the vehicles detected as vehicles having danger of a collision (S2720).

The controller 1030 can create driving guidance information for each of the vehicles having danger of a collision to lead the drivers of the vehicles having danger of a collision to drive to avoid the collision at the intersection area. For example, the controller 1030 can create driving guidance information for each of the vehicles having danger of a collision such that the difference between the points of time when the vehicles having danger of a collision enter the intersection area corresponds to a collision-avoidable time difference.

The driving guidance information may include at least one of information about whether driving into the intersection area is allowed, information about the point of time of entering the intersection area, speed information of a vehicle, and steering information. For example, the information about whether driving into the intersection area is allowed can be provided in the type of a virtual traffic signal described with reference to FIG. 8, etc., so information about driving permission (e.g., a green signal) or driving prohibition (e.g., a red signal), etc. can be provided to a driver.

Meanwhile, the controller 1030 can set priority of driving at the intersection area for the vehicles having danger of a collision and can create the driving guidance information on the basis of the set priority of driving.

The priority of driving can be set on the basis of the speed information and location information of the vehicles having danger of a collision. The controller 1030 can calculate points of time of entering the intersection area, using the speed information and the location information of the vehicles having danger of a collision. For example, the controller 1030 can create driving guidance information such that a first vehicle of which the calculated point of time of entering is earlier passes first through the intersection area. The controller 1030 can create driving guidance information such that a second vehicle having a later point of time of entering passes through the intersection area after the first vehicle passes through the intersection area.

Depending on vehicles, the priority of driving may be set on the basis of rules or regulations established on the intersection area. For example, as for a rotary area, the priority of a first vehicle in a rotary may be higher than the priority of driving of a second vehicle to enter the rotary. Accordingly, the controller 1030 can create driving guidance information such that the first vehicle passes through the intersection area and then the second vehicle passes through the intersection area.

According to an embodiment, the priority of driving may be set on the character or the states of vehicles. For example, when a first vehicle of vehicles having danger of a collision is an emergency vehicle (ambulance, etc.) and a second vehicle is a common vehicle, the controller 1030 can set the priority of driving of the first vehicle higher than that of the second vehicle. Alternatively, when a first vehicle of vehicles having danger of a collision is a vehicle that cannot communicate with the traffic information providing device 1000 and a second vehicle is a vehicle that can perform communication, the controller 1030 can create the priority of driving of the first vehicle higher than that of the second vehicle.

The traffic information providing device 1000 can transmit the created driving guidance information to the vehicles with danger of a collision. The driving assistance device 100 of each of the vehicles having danger of a collision can output the received driving guidance information (S2740).

The driving assistance device 100 can output the received driving guidance information in the type of graphic or text through the display apparatus 180 or in the type of voice through an audio output unit 185. The drivers of the vehicles having damage of a collision can avoid a collision at the intersection area by controlling their vehicles on the basis of the output driving guidance information.

In vehicles on roads, there may be vehicles that cannot communicate with the traffic information providing device 1000. When the traffic information providing device 1000 creates and provides driving information (driving guidance information or automatic driving information) without recognizing vehicles that cannot perform communication, a collision of the vehicles that cannot perform communication may occur at intersection area. An embodiment of the present invention for solving this problem is described with reference to FIG. 28.

FIG. 28 is an exemplary view illustrating an embodiment in which the traffic information providing device obtains information of a vehicle that cannot perform communication, and provides traffic information to other vehicles when there is a vehicle that cannot perform communication

Referring to FIG. 8, the traffic information providing device 1000 can communicate with a first vehicle 700 a and second vehicle 700 b, and as described in detail with reference FIG. 27, it can provide traffic information for avoiding a collision at an intersection area to the first vehicle 700 a and the second vehicle 700 b.

When there is another vehicle 510 that cannot communicate with the traffic information providing device 1000, the traffic information providing device 1000 can obtain information about the another vehicle 510 from at least one of the vehicles that can perform communication.

For example, as shown in FIG. 28, there may be the another vehicle 510 ahead of the first vehicle 710 a. In this case, the driving assistance device 100 of the first vehicle 700 a can attempt to perform (V2V) communication with the another vehicle 510. When it is impossible to communicate with the another vehicle 510, the driving assistance device 100 can perceive that the another vehicle 510 cannot perform communication. In this case, the driving assistance device 100 of the first vehicle 700 a can obtain driving information of the another vehicle 510 using the distance sensor 150 or the camera 160. The driving information of the another vehicle 510 may include speed information, location information, information about an estimated driving route of the another vehicle 510, etc.

The driving assistance device 100 of the first vehicle 700 a can transmit the driving information of the first vehicle 700 a and the driving information of the another vehicle 510 to the traffic information providing device 1000. The traffic information providing device 1000 can find out existence of the another vehicle 510 by receiving the driving information of the another vehicle 510 from the first vehicle 700 a.

The traffic information providing device 1000 can create traffic information on the basis of the driving information of the first vehicle 700 a, the second vehicle 700 b, and the another vehicle 510.

Since the traffic information providing device 1000 cannot transmit the traffic information to the another vehicle 510, it may be effective to pass the another vehicle 510 first when a danger of a collision between the second vehicle 700 b and the another vehicle 510 is detected. Accordingly, the traffic information providing device 1000 can create traffic information for the second vehicle 700 b such that the another vehicle 510 passes first through an intersection area and then the second vehicle 700 b passes through the intersection area. That is, the traffic information providing device 1000 can set the priority of a vehicle that cannot perform communication higher than that of a vehicle that can perform communication.

Meanwhile, it is preferable that the traffic information providing device 1000 continuously receives the driving information of the another vehicle 510 from the first vehicle 700 a behind the another vehicle 510. Accordingly, the traffic information providing device 1000 can create traffic information for the first vehicle 700 a such that the first vehicle 700 a passes through an intersection together with the another vehicle 510 even if the second vehicle 700 b can enter the intersection earlier than the first vehicle 700 a.

However, depending on vehicles, when it is detected that the another vehicle 510 is stopped before entering the intersection area by the first vehicle 700 a, the traffic information providing device 1000 can create traffic information such that the second vehicle 700 b passes through the intersection.

The traffic information providing device 1000 can transmit the created information to the first vehicle 700 a and the second vehicle 700 b.

When the traffic information is driving guidance information, the driving assistance device 100 of the first vehicle 700 a can display a virtual traffic signal that leads the first vehicle 700 a to pass through the intersection area, on the basis of the received driving guidance information. On the other hand, the driving assistance device 100 of the second vehicle 700 b can display a virtual traffic signal showing that it is impossible to pass through the intersection area, on the basis of the received driving guidance information.

When the traffic information is automatic driving information, the first vehicle 700 a can be automatically driven to pass through the intersection area on the basis of the received automatic driving information and the second vehicle 700 b can be automatically driven to stop before entering the intersection area and then pass through the intersection area after the another vehicle 510 and the first vehicle 700 a passes through the intersection area, on the basis of the received automatic driving information.

That is, since the traffic information providing device 1000 can provide traffic information considering another vehicle that cannot perform communication, it is possible to more effectively prevent a collision of vehicles at an intersection area.

FIG. 29A is an exemplary view illustrating an embodiment in which the traffic information providing device changes traffic information and provides the changed traffic information while it provides traffic information, when an object such as a pedestrian shows up.

Referring to FIGS. 29A and 29B, the first vehicle 700 a and the second vehicle 700 b may be intended to pass straight through an intersection. The traffic information providing device 1000 can detect danger of a collision of the first vehicle 700 a and the second vehicle 700 b at an intersection area. As shown in FIG. 29A, when the first vehicle 700 a is closer to an intersection area than the second vehicle 700 b, the traffic information providing device 1000 can transmit traffic information corresponding to permission for passing through the intersection to the first vehicle 700 a and traffic information corresponding to prohibition of passing through the intersection area to the second vehicle 700 b.

Referring to FIG. 29B, when a pedestrian P shows up around a crosswalk, the traffic information providing device 1000 can obtain information about the pedestrian P. For example, the traffic information providing device 1000 can obtain the information about the pedestrian P from a mobile terminal the pedestrian P carries. Depending on embodiments, the driving assistance device 100 of the first vehicle 700 a or the second vehicle 700 b can sense the pedestrian P, using a sensor such as the camera 160, and can transmit traffic information including the information about the sensed pedestrian P to the traffic information providing device 1000. That is, the driving assistance device 100 can periodically obtain and transmit driving information of the vehicle 700 to the traffic information providing device 1000.

The traffic information providing device 1000 can change the traffic information for the first vehicle 700 a and the second vehicle 700 b on the basis of the obtained information about the pedestrian P. Referring to FIG. 29B, since a pedestrian P is close to a crosswalk, the pedestrian P may intend to cross the road through the crosswalk. In this case, the traffic information providing device 1000 can detect danger of a collision of the first vehicle 700 a and the pedestrian P. The traffic information providing device 1000 can transmit traffic information corresponding to driving prohibition to the first vehicle 700 a. That is, the traffic information providing device 1000 can set the priority of the pedestrian P higher than that of the first vehicle 700 a.

On the other hand, the second vehicle 700 h to pass straight through the intersection does not have danger of a collision with the pedestrian P, the traffic information providing device 1000 can transmit traffic information corresponding to permission for passing through the intersection area.

That is, the traffic information providing device 1000 can minimize possibility of an accident by actively changing traffic information in accordance with changes in situation around roads such as showing-up of a pedestrian.

FIG. 30 is a ladder diagram illustrating the operation of the traffic information providing device according to an embodiment of the present invention. FIG. 31 is an exemplary view showing an operation in which a driving assistance system informs a driver that the driving mode of a vehicle is changed into an automatic driving mode in accordance with automatic driving information received from the traffic information providing device. FIG. 32 is an exemplary view showing an operation in which a driving assistance system informs a driver that the driving mode of a vehicle is changed into a manual driving mode in accordance with an automatic driving end signal received from the traffic information providing device.

Referring to FIG. 30, the driving assistance device 100 can transmit driving information of the vehicle 700 to the traffic information providing device 1000 (S2900) and can detect vehicles having danger of a collision on the basis of driving information of vehicles (S2905).

The steps S2900 and S2905 are similar to the steps S2700 and S2710 shown in FIG. 21, so they are not described in detail herein.

The traffic information providing device 1000 can create automatic driving information for avoiding a collision of the vehicles detected as vehicles having danger of a collision (S2910).

The controller 1030 can create automatic driving information for the vehicles having danger of a collision to avoid a collision of the vehicles having danger of a collision at the intersection area. For example, the controller 1030 can create automatic driving information for each of the vehicles having danger of a collision such that the difference between the points of time when the vehicles having danger of a collision enter the intersection area corresponds to a collision-avoidable time difference.

The automatic driving information may include at least one of speed information, steering information, and information about points of time of stopping and restarting for automatically driving a vehicle from a predetermined point of time before entering the intersection area.

Meanwhile, as described in detail with reference to FIG. 27, the controller 1030 can set priority of driving at the intersection area for the vehicles having danger of a collision and can create the automatic driving information on the basis of the set priority of driving.

The traffic information providing device 1000 can transmit the created automatic driving information to the driving assistance device 100 (S2915). The driving assistance device 100 can transmit the received automatic driving information to the controller 770 of the vehicle 700 through the interface 130 (S2920).

The controller 770 of the vehicle 700 can change the driving mode of the vehicle 700 into an automatic driving mode on the basis of the received automatic driving information (S2925).

The controller 770 can control the vehicle drive unit 750 such that the vehicle 700 passes through the intersection area in response to at least one of the speed information, steering information, and information about the points of time of stopping and restarting that are included in the received automatic driving information. For example, the controller 770 can control the power source drive unit 751, the steering drive unit 752, the brake drive unit 753, etc.

Depending on vehicles, the driving assistance device 100 can inform a driver that the driving mode of the vehicle is changed into the automatic driving mode. Referring to FIG. 31 in relation to this process, the driving assistance device 100 can display a message 310 saying that the driving mode of the vehicle 700 is changed into the automatic driving mode on the windshield 180 a. The driver can recognize that the driving mode of the vehicle 700 has been changed into the automatic driving mode on the basis of the displayed message 310.

The controller 770 can end the automatic driving mode after the vehicle passes through the intersection area on the basis of the received automatic driving information.

Depending on embodiments, the driving assistance device 100 can transmit driving information of the vehicle 700 to the traffic information providing device 1000 while the vehicle 700 is automatically driven (S2930).

The driving assistance device 100 can periodically create and transmit driving information of the vehicle 700 to the traffic information providing device 1000 during automatic driving.

The traffic information providing device 1000 can detect whether the danger of a collision of the vehicles having danger of a collision has been removed on the basis of the driving information received from the vehicles having danger of a collision (S2935).

For example, the traffic information providing device 1000 can detect removal of danger of a collision from vehicles that is danger of a collision and of which the location corresponds to a location passing by the intersection area or a location exceeding a predetermined distance after passing through the intersection area. That is, the traffic information providing device 1000 can detect removal of the danger of a collision on the basis of various items of information included in the driving information.

When the danger of a collision of a specific vehicle of the vehicles having danger of a collision is removed (YES in S2935), the traffic information providing device 1000 can transmit an automatic driving end signal to the driving assistance device 100 of the specific vehicle to end the automatic driving mode (S2940). The driving assistance device 100 can transmit the received automatic driving end signal to the controller 770 through the interface 130 (S2945). The controller 770 can end the automatic driving mode of the vehicle on the basis of the received automatic driving end signal (S2950).

Depending on vehicles, the driving assistance device 100 can inform a driver that the automatic driving mode of the vehicle 700 is ended. Referring to FIG. 32 in relation to this process, the driving assistance device 100 can display a message 320 saying that the automatic driving mode of the vehicle 700 is ended after a predetermined time passes on the windshield 180 a. The driver can recognize and prepare for end of the automatic driving mode of the vehicle 700 after a predetermined time.

That is, the traffic information providing device 1000 can detect danger of a collision of the vehicles 700 a, 700 b, 700 c at an intersection area, using the driving information of the vehicles, and can provide automatic driving information for avoiding a collision to the vehicles. The controller 770 of each of the vehicles can effectively prevent a collision at the intersection area by performing the automatic driving mode that controls the vehicle drive unit 750 in accordance with received automatic driving information.

The traffic information providing device 1000 can provide the same traffic information to a plurality of vehicles having the same or similar driving routes and being adjacent to one another (within a predetermined range) by obtaining driving information several vehicles. Accordingly, the plurality of vehicles can be driven in a group (group driving). FIG. 33 is referred to in relation to such group driving.

FIG. 33 is an exemplary view showing an embodiment in which the traffic information providing device induces or controls a plurality of vehicles having the same driving routes to be driven together.

Referring to FIG. 33, a first vehicle 700 a and a second vehicle 700 b may have a driving route vertically passing straight through an intersection area and a third vehicle 700 c and a fourth vehicle 700 d may have a driving route passing straight through the intersection area in the left-right direction.

The traffic information providing device 1000 can detect danger of a collision among the first vehicle 700 a to the fourth vehicle 700 d on the basis of driving information of the first vehicle 700 a to the fourth vehicle 700 d.

In FIG. 33, the point of time of entering the intersection area according to the driving information of the vehicles may be calculated in order of the first vehicle 700 a, the third vehicle 700 c, the second vehicle 700 b, and the fourth vehicle 700 d.

When priority of driving is set on the basis of only the points of time of entering the intersection area, the priority of driving will be set in order of the first vehicle 700 a, the third vehicle 700 c, the second vehicle 700 b, and the fourth vehicle 700 d. In this case, switching between vertical driving permission and left-right driving permission may be frequently generated, which may interfere with smooth traffic flow.

Accordingly, the traffic information providing device 1000 can prevent this problem by lead or control the first vehicle 700 a and the second vehicle 700 b to be driven together by grouping them and lead or control the third vehicle 700 c and the fourth vehicle 700 d to be driven together by grouping them.

In detail, the traffic information providing device 1000 can transmit traffic information corresponding to permission for passing through the intersection area to the first vehicle 700 a and the second vehicle 700 b and can transmit traffic information corresponding to prohibition of passing through the intersection area to the third vehicle 700 c and the fourth vehicle 700 d.

When the traffic information is driving guidance information, the driving assistance devices 100 of the first vehicle 700 a to the fourth vehicle 700 d can output the received driving guidance information. For example, the driving assistance devices 100 of the first vehicle 700 a and the second vehicle 700 b can output a virtual traffic signal showing permission for passing through the intersection area, while the driving assistance devices 100 of the third vehicle 700 c and the fourth vehicle 700 d can output a virtual traffic signal showing prohibition of passing through the intersection area. Though not shown in the figure, the driving assistance devices 100 of the third vehicle 700 c and the fourth vehicle 700 d could output a virtual traffic signal showing permission for passing through the intersection area, after the first vehicle 700 a and the second vehicle 700 b pass through the intersection area.

Depending on embodiments, when the traffic information is automatic driving information, the controllers 770 of the first vehicle 700 a to the fourth vehicle 700 d can change the driving mode into an automatic driving mode on the basis of the received automatic driving information. The controllers 770 of the first vehicle 700 a and the second vehicle 700 b can control the vehicle drive unit 750 such that the vehicles pass through the intersection area, while the controllers 770 of the third vehicle 700 c and the fourth vehicle 700 d can control the vehicle drive unit 750 such that the vehicles stop before entering the intersection area. Though not shown in the figure, the driving assistance devices 770 of the third vehicle 700 c and the fourth vehicle 700 d could control the vehicle drive unit 750 such that the vehicles pass through the intersection area, after the first vehicle 700 a and the second vehicle 700 b pass through the intersection area.

Such group driving can be ended when danger of a collision of vehicles having the danger of a collision is removed, when grouped vehicles pass through a intersection area or is driven a predetermine distance after passing through the intersection, and when a specific vehicle of grouped vehicles goes a predetermined distance away from the other vehicles, but it is not limited thereto.

Depending on embodiments, when an emergency vehicle is included in a plurality of vehicles having the same or similar driving routes and being adjacent to one another, the traffic information providing device 1000 can lead or control the emergency vehicle to pass first through an intersection area and can lead and control the other vehicle except for the emergency vehicle to be driven together by grouping them.

That is, the traffic information providing device 1000 can make traffic flow smoother at an intersection area by leading or controlling a plurality of vehicles to be driven together on the basis of driving routes and location information.

The above described features, configurations, effects, and the like are included in at least one of the embodiments of the present invention, and should not be limited to only one embodiment. In addition, the features, configurations, effects, and the like as illustrated in each embodiment may be implemented with regard to other embodiments as they are combined with one another or modified by those skilled in the art. Thus, content related to these combinations and modifications should be construed as including in the scope and spirit of the invention as disclosed in the accompanying claims.

Further, although the embodiments have been mainly described until now, they are just exemplary and do not limit the present invention. Thus, those skilled in the art to which the present invention pertains will know that various modifications and applications which have not been exemplified may be performed within a range which does not deviate from the essential characteristics of the embodiments. For instance, the constituent elements described in detail in the exemplary embodiments can be modified to be performed. Further, the differences related to such modifications and applications shall be construed to be included in the scope of the present invention specified in the attached claims. 

The invention claimed is:
 1. A traffic information providing device comprising: a communication transceiver configured to receive driving information from a plurality of vehicles; and a controller configured to: detect vehicles having danger of a collision at an intersection area from the plurality of vehicles based on the received driving information, generate traffic information for the detected vehicles having danger of a collision to avoid a collision of the vehicles having danger of a collision, and control the communication transceiver to transmit the generated traffic information to the vehicles having danger of a collision before entering the intersection area, wherein the controller is further configured to: receive driving information of a vehicle that cannot perform communication from at least one of the plurality of vehicles, detect vehicles having danger of a collision at the intersection area based on the driving information of the plurality of vehicles and the driving information of the vehicle that cannot perform communication, set a priority of driving through the intersection area for the vehicle that cannot perform communication higher than a priority of at least one vehicle that can perform communication when the vehicle that cannot perform communication is included in the vehicles having danger of a collision, and generate traffic information for the at least one vehicle that can perform communication included in the vehicles having danger of a collision based on the set priority of driving through the intersection area, wherein the controller is configured to set a priority of driving through the intersection area for the vehicles having danger of a collision, and generate traffic information for the at least one vehicle that can perform communication included in the vehicles having danger of a collision based on the set priority of driving through the intersection area, wherein the controller is configured to set a priority of driving through the intersection area for the vehicles having danger of a collision and generate the traffic information on the basis of the set priority of driving, and wherein the priority of driving is set based on points of time when the vehicles having danger of a collision enter the intersection area based on the driving information, rules set in advance on the intersection area, or whether there is an emergency vehicle in the vehicles having danger of a collision.
 2. The traffic information providing device of claim 1, wherein the controller is configured to detect the intersection area on driving routes of at least some vehicles of the plurality of vehicles based on driving route information included in the driving information of the plurality of vehicles.
 3. The traffic information providing device of claim 2, wherein the controller is configured to: calculate points of time when the at least some vehicles enter the intersection area based on location information and speed information included in the driving information of the at least some vehicles, and detect the vehicles having danger of a collision of the at least some vehicles based on differences of the calculated points of time.
 4. The traffic information providing device of claim 1, wherein the traffic information includes driving guidance information for providing at least one of whether entering to the intersection area is permitted, a point of time of being able to enter the intersection area, a speed, or steering to a vehicle of the vehicles having danger of a collision.
 5. The traffic information providing device of claim 1, wherein the controller is configured to: perform automatic driving of each of the detected vehicles having danger of a collision at the intersection area from a predetermined point of time before entering the intersection area, the traffic information includes an automatic driving information having at least one of a speed, steering, a point of time of stopping, or a point of time of restarting.
 6. The traffic information providing device of claim 5, wherein the controller is configured to: receive driving information during automatic driving from the vehicles having danger of a collision, detect a vehicle of which danger of a collision has been removed based on the received driving information, and control the communication transceiver to transmit an automatic driving end signal for ending automatic driving of the detected vehicle to the detected vehicle.
 7. The traffic information providing device of claim 6, wherein the controller is configured to detect a vehicle, of which the location included in the received driving information during the automatic driving is a location passing by the intersection area or corresponds to a location exceeding a predetermined distance after passing through the intersection area, of the vehicles having danger of a collision as the vehicle of which danger of a collision has been removed.
 8. The traffic information providing device of claim 1, wherein the controller is configured to: periodically receive the driving information from the plurality of vehicles, and update the traffic information based on the periodically received driving information.
 9. The traffic information providing device of claim 1, wherein the controller is configured to: receive pedestrian information from a mobile terminal of a pedestrian or at least one of the plurality of vehicles, and transmit traffic information indicating driving prohibition to a vehicle detected as having danger of collision with the pedestrian based on the received pedestrian information.
 10. The traffic information providing device of claim 1, wherein the controller is configured to: group vehicles having the same driving route in a predetermined section including the intersection area and existing within a predetermined range based on the received driving information, and control the communication transceiver to transmit the same traffic information to the grouped vehicles.
 11. The traffic information providing device of claim 1, wherein the traffic information providing device includes at least one of: a server that communicates with the plurality of vehicles through a network; and a Roadside Unit (RSU) that is installed at a side of a road and communicates with the plurality of vehicles.
 12. A method of operating a traffic information providing device, the method comprising: receiving driving information from a plurality of vehicles; detecting vehicles having danger of a collision at an intersection area from the plurality of vehicles based on the received driving information; generating traffic information for the detected vehicles having danger of a collision to avoid a collision of the vehicles having danger of a collision; and transmitting the generated traffic information to the vehicles having danger of a collision before entering the intersection area, wherein the receiving driving information further includes receiving driving information of a vehicle that cannot perform communication from at least one of the plurality of vehicles, and, wherein the generating the traffic information includes: setting a priority of driving through the intersection area for the vehicle that cannot perform communication higher than priority of at least one vehicle that can perform communication when the vehicle that cannot perform communication is included in the vehicles having danger of a collision; and generating traffic information for the at least one vehicle that can perform communication include in the vehicles having danger of a collision based on the set priority of driving through the intersection area, wherein the generating the traffic information further includes: setting a priority of driving through the intersection area for the vehicles having danger of a collision and generate the traffic information on the basis of the set priority of driving, and wherein the priority of driving is set based on points of time when the vehicles having danger of a collision enter the intersection area based on the driving information, rules set in advance on the intersection area, or whether there is an emergency vehicle in the vehicles having danger of a collision.
 13. The method of claim 12, wherein the detecting of vehicles having danger of a collision includes: detecting the vehicles having danger of a collision; detecting the intersection area on driving routes of at least some vehicles of the plurality of vehicles based on driving route information included in the driving information; calculating points of time when the at least some vehicles enter the intersection area based on location information and speed information included in the driving information of the at least some vehicles; and detecting the vehicles having danger of a collision from the at least some vehicles based on differences of the calculated points of time.
 14. The method of claim 12, wherein the traffic information includes an automatic driving information having at least one of a speed, steering, a point of time of stopping, or a point of time of restarting, to perform automatic driving of each of the detected vehicles having danger of a collision at the intersection area from a predetermined point of time before entering the intersection area, and the method further comprises: receiving driving information from the vehicles having danger of a collision during automatic driving; detecting a vehicle of which danger of a collision has been removed based on the received driving information; and transmitting an automatic driving end signal for ending automatic driving of the detected vehicle to the detected vehicle.
 15. A driving assistance device comprising: a communication transceiver configured to communicate with a traffic information providing device; a sensor unit including a camera and a distance sensor; an interface connected to a controller of a vehicle; and a processor configured to: generate driving information of the vehicle based on information obtained through the sensor unit and the interface, and transmit the generated driving information to the traffic information providing device, and receive traffic information for avoiding detected danger of a collision from the traffic information providing device when danger of a collision with another vehicle at an intersection area is detected based on the driving information, wherein the traffic information is generated based on a priority of driving through the intersection area, and wherein the priority of driving of the vehicle is lower than a priority of a vehicle that cannot perform communication with the traffic information providing device, when the vehicle that cannot perform communication with the traffic information providing device is included in vehicles having danger of a collision at the intersection area, wherein the processor is configured to set a priority of driving through the intersection area for the vehicles having danger of a collision and generate the traffic information on the basis of the set priority of driving, and wherein the priority of driving is set based on points of time when the vehicles having danger of a collision enter the intersection area based on the driving information, rules set in advanced on the intersection area, or whether there is an emergency vehicle in the vehicle having danger of a collision.
 16. The driving assistance device of claim 15, further comprising at least one of a display or a speaker, wherein the traffic information includes at least one item of information of whether driving to the intersection area is permitted, a point of time being able to enter the intersection area, a speed, or steering, and the processor is configured to output at least one item of information included in received traffic information to at least one of the display or the speaker.
 17. The driving assistance device of claim 15, wherein the traffic information includes at least one item of information of a speed, steering, a point of time of stopping, or a point of time of restarting, for controlling the vehicle to be automatically driven from a predetermined point of time before entering the intersection area, and the processor is configured to transmit received traffic information to the controller of the vehicle through the interface.
 18. The driving assistance device of claim 17, wherein the processor is configured to: periodically generate and transmit the driving information to the traffic information providing device while the vehicle is automatically driven, receive an automatic driving end signal for ending the automatic driving from the traffic information providing device when removable of the danger of a collision is detected based on the driving information, and transmit the received automatic driving end signal to the controller of the vehicle through the interface. 